The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which moves in the Cartesian x-y-z space with fixed orientation. New solutions to solve inverse/direct kinematics are proposed and we perform a detailed workspace a...

Robotic surgery reduces the amount of tissues that are damaged during a surgical procedure, thereby reducing the patient recovery time, discomfort and deleterious side effect such as infection. In this article, kinematic and dynamic analysis of a surgical tool manipulator is carried out to perform the desired range of motions for a typical minimal invasive surgical operation. The manipulator ha...

Cable interference in cable-driven mechanisms (CDM) is a major challenge in their applications. The wrench closure workspace (WCW) in a fully constrained mechanism may not be realized unless cable interference is considered. This paper classifies all possible types of cable interferences for planar cable-driven mechanisms and presents an analytical solution to find the boundaries of the constan...

In this paper we propose a set of criteria to evaluate the performance of various parallel mechanism architectures for CNC machining applications. In the robotics literature mathematical formulations of qualities like manipulability, stiffness, and workspace volume have been proposed to evaluate the performance of general-purpose robots. Here we propose a set of performance measures that specif...

In this paper, a new architecture of planar threedegree-of-freedom (3-dof) parallel manipulator is presented. In the proposed mechanism, the prismatic actuators are fixed t o the base which leads t o a reduction of the inertia of the moving links and hence makes it attractive, particularly when high speeds are required and electric actuation is considered. Af ter introducing the mechanism, a ki...

ABSTRACT: This paper deals with the sensitivity analysis of 3-RPR planar parallel manipulators. First, the manipulators under study as well as their degeneracy conditions are presented. Then, an optimization problem is formulated in order to obtain their maximal regular dexterous workspace. Moreover, the sensitivity coefficients of the pose of the manipulator moving platform to variations in th...

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which moves in the Cartesian x-y-z space with fixed orientation. New solutions to solve inverse/direct kinematics are proposed and a detailed workspace analysis is ...

Abstract This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a haptic minimally invasive surgery application. First the medical task was characterized with the help of a surgeon who performed a suture technique called anastomosis. A Vicon system was used to capture the motion of the surgeon, which yielded the volume swept by the tool during the anasto...

A linear pentapod is a parallel manipulator with five collinear anchor points on the motion platform (end-effector), which are connected via SPS legs to the base. This manipulator has five controllable degrees-of-freedom and the remaining one is a free rotation around the motion platform axis (which in fact is an axial spindle). In this paper we present a rational parametrization of the singula...

The paper describes a method for planning collision-free motions of an industrial manipulator that shares the workspace with human operators during human–robot collaborative application strict safety requirements. proposed workflow exploits advantages mixed reality to insert real entities into virtual scene, wherein robot control command is computed and validated by simulating without risks hum...