Title of Dissertation: A THREE DEGREE OF FREEDOM PARALLEL MANIPULATOR WITH ONLY TRANSLATIONAL DEGREES OF FREEDOM Richard Eugene Stamper, Doctor of Philosophy, 1997 Dissertation directed by: Professor Lung-Wen Tsai Department of Mechanical Engineering and Institute for Systems Research In this dissertation, a novel parallel manipulator is investigated. The manipulator has three degrees of freedo...

in the research, six degrees of freedom hexapod parallel machine tool is studied and investigated. jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on jacobian matrix. geometric parameters of cartesian robot workspace are optimized, considering a minimum allowable rotation about three axes, a...

A prerequisite for the successful design of the hand-controller, an important element of a telesurgical robotic system, remains i) the knowledge of the forces exerted by the surgical tool, and ii) the workspace required to maneuver the tool during surgical procedures. In this study, we used an image-guided neurosurgical telerobotic system called neuroArm, to quantify both the forces of tool tis...

Magnetic-Inertial Measurement Units (MIMUs) based on microelectromechanical (MEMS) technologies are widespread in contexts such as human motion tracking. Although they present several advantages (lightweight, size, cost), their orientation estimation accuracy might be poor. Indoor magnetic disturbances represent one of the limiting factors for their accuracy, and, therefore, a variety of work w...

Placement of robotics manipulators involves the specification of the position and orientation of the base with respect to a predefined work environment. A general approach to the placement of manipulators based on the kinematic dexterity of mechanisms is presented. In many robotic implementations, it is necessary to carefully plan the layout of the workplace, whether on the manufacturing floor ...

The asymmetry in bilateral teleoperation, i.e., the differences of mechanical structures, sizes, and number joints between master slave robots, can introduce kinematics redundancy workspace inequality problems. In this article, a novel shared autonomy control strategy is proposed for handling which has two main contributions. First, to deal with redundancy, provides self-regulation algorithm or...

This paper studies the workspace of a six-DC)F parallel manipulator of three-PPSR (prismatic-prismaticspheric-revolute) type. It is well recognized that the most significant drawback of parallel manipulators is their limited workspace. To develop new parallel mechanisms with a larger workspace is of interest to additional applications. The mechanism of the three-PPSR manipulator and its variati...

Purpose – The purpose of this paper is to describe a calibration method developed to improve the absolute accuracy of a novel three degrees-of-freedom planar parallel robot. The robot is designed for the precise alignment of semiconductor wafers and, even though its complete workspace is slightly larger, the accuracy improvements are performed within a target workspace, in which the positions a...

In this paper, a novel unsymmetrical five–four bar Planar Parallel Manipulator (PPM) with three Degree-of-Freedoms (DOFs) is proposed, the new manipulator is composed of a double-layer five-bar part with a four-bar part located in between. Targeting for the application of Chinese dish cooking machine, the detailed kinematics analysis for the new PPM is developed. Different from traditional thre...