In this paper, the kinematic analysis for a 6 degree-of-freedom parallel manipulator with 3-PPSP type serial subchains is performed and its kinematic characteristics are investigated via isotropic index of the first-order kinematic influence matrix. Also, dynamic analysis of the manipulator is peiformed and its dynamic characteristics is examined via the isotropic characteristics of the output ...

this paper presents the results of a comprehensive study on the efficiency of planar parallel mechanisms, considering their kinetostatic performance and also, their workspace. this aim is approached upon proceeding single- and multi-objective optimization procedures. kinetostatic performances of ten different planar parallel mechanisms are analyzed by resorting to a recent index, kinematic sens...

This article presents a novel parallel spherical mechanism called Argos with three rotational degrees of freedom. Design aspects of the first prototype built of the Argos mechanism are discussed. The direct kinematic problem is solved, leading always to four nonsingular configurations of the end effector for a given set of joint angles. The inverse-kinematic problem yields two possible configur...

In this paper, a detailed dynamic model for a general parallel kinematic mechanism (PKM) used in a reconfigurable meso-milling machine tool (RmMT) is developed in terms of active joint coordinates via the Lagrange formulation and appropriate coordinate transformations. The proposed dynamic model is, then, implemented numerically on a 3PPRS parallel configuration as an example to verify the effe...

Twice (Tilting device with WIde Capacity) a new amplification device able to double the tilting angle of a parallel mechanism is presented. A singularity analysis is carried out: it proves that Twice can give a huge tilting angle to Parallel Kinematic Machines (PKM). Finally, practical implementation features are discussed.

The method for parallel mechanism type synthesis is introduced based on the kinematic characteristics flow process from the joints to the end-effector of parallel mechanism. Some new kinds of redundant input parallel mechanisms are brought forward by this method. By adopting double-inputs interface module, a kind of parallel earthquake simulator is presented and manufactured. The according cont...