Cable-Driven Parallel Robots (CDPRs) are a special kind of parallel manipulator that uses cables to control the position and orientation mobile platform or end effector. The use instead rigid links offers some advantages over their conventional counterparts. As can only pull but not push, number (n) required command end-effector is always n+1. This configuration known as fully-constrained, it m...

The presented article analyses structures of kinematic chains in industrial robots, i.e. their positioning and orientation mechanisms with respect to positioning of end effectors within the workspace of parallel kinematic machine and in its vicinity with the aim to facilitate a selection of appropriate industrial robot for automatic in – between operational manipulation in the periphery of such...

Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computatio...

For translational parallel manipulators (TPMs), topology synthesis methods that can be found in the literature are mainly based on screw theory, instantaneous kinematics, or group theory. In this work, finite displacement equations are used for the topology synthesis of TPM. Serial chains with less than 6 degrees of freedom (DOF) are first investigated and, topological conditions for them to ge...

This paper presents workspace and kinematic analysis of a parallel machine based on the Lambda mechanism. The considered has six degrees freedom (DOF), achievable with actuated translation joints. includes definition every active part machine, as well or passive joint used to connect parts. mathematical model is created for better understanding machine's operation. proposed inverse equations, w...

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

The introduction of non-target objects into a workspace leads to temporal and spatial adjustments of reaching trajectories towards a target. Currently, there are two different explanations for this phenomenon: the non-target objects are considered as either physical obstacles to which we maintain a preferred distance (see Tresilian, 1998) or as distractors that interfere with movement planning ...

This paper presents the kinematic design of a translational parallel mechanism (PM) named Vari-Orthoglide by means workspace superposition, according to sub-kinematic chain (SKC) based PM composition principle. The main topological characteristics manipulator with two SKCs under study, such as position and orientation (POC) characteristics, degree freedom (DOF) coupling are analyzed, which turn...

This paper proposes a new design method to determine the feasible set of parameters of translational or position/orientation decoupled parallel robots for a prescribed singularity-free workspace of regular shape. The suggested method uses Groebner bases to define the singularities and the cylindrical algebraic decomposition to characterize the set of parameters. It makes it possible to generate...

Needle placement is an important procedure in many medical fields, especially in diagnosis (for the achievement of biopsies) or cancer treatment procedures (like brachytherapy). The paper presents an extensive study of the workspace for an innovative parallel robot designed for needle placement procedures. The singularities of the parallel robot are exhaustively analysed and the possibilities o...