... and rigid links, discussing the reasons for unreasonable tensions in the system. Under given constraints on the motion pairs of the mechanism, the workspace of the mechanism is plotted, and factors influencing the size of the workspace are analyzed. Finally, the singularity of the mechanism is addressed...

... have disadvantages like small workspaces and complex singularity. In this article, a novel redundant parallel mechanism (RPM) for long bone fracture reduction is proposed based on Stewart parallel mechanism (SPM). Six kinematically redundant DOFs (degrees-of-freedom) are added to the RPM. First...

... that the method can be implemented online for the control of the mechanism. Also, since the platform is reconfigurable, the introduced mechanisms can be used for grasping irregular objects. The motion of the mechanism is simulated for singularity avoidance and grasping. Contributed by the Mechanisms...

... translational (2R1T) DOFs and do not involve any parasitic motion. First, the kinematic performance of the mechanisms is discussed based on the motion/force transmission index and constraint index. Then, the singularity of the mechanism is analyzed systematically based on the local performance atlases...

...Chuanyang Li; Hongwei Guo; Dewei Tang; Huiyin Yan; Rongqiang Liu; Zongquan Deng Space manipulation has great prospects in aerospace applications. In this work, a multiloop robot, namely 3-R(SRS)RP multiloop mechanism, is presented. Its design, kinematics, singularity, and workspace are studied...

...Xianwen Kong; Andrew Johnson References [1] Gosselin , C. , and Angeles , J. , 1990 , “ Singularity Analysis of Closed-Loop Kinematic Chains ,” IEEE Trans. Rob. Autom. , 6 ( 3 ), pp. 281 – 290 . 10.1109/70.56660 [2] Agrawal , S. , and Roth , B. , 1992 , “ Statics...

... on these, a unified singularity modeling is proposed by defining the geometric constraint forces and actuation forces in the Jacobian matrix with their change in the variable topologies in terms of constraint screws. Analysis of workspace with singularity distribution is carried out using this model and corresponding...

...Jingjun Yu; Xin Dong; Xu Pei; Xianwen Kong In this paper, a visual graphic approach is presented for the mobility and singularity analysis of mechanisms with no helical pair. The presented method is established upon the reciprocal screw system theory. Using the visual graphic approach, the mobility...

...Sébastien Briot; Vigen Arakelian In the present paper, we expand information about the conditions for passing through Type 2 singular configurations of a parallel manipulator. It is shown that any parallel manipulator can cross the singular configurations via an optimal control permitting...

... screw system, singularity is identified related to the constraint configuration based on Grassmann line geometry and dependency of the constraint screw system, leading to selection of the design parameters that avoid the platform singularity. 08 12 2009 21 04 2010 23 07 2010 23 07...

... to the ball variant and investigates the singularity and various configurations based on the geometry and kinematics of the ball variant. This leads to the investigation of the Hoberman switch-pitch ball as a special case of the ball variant with bevel gears to simultaneously drive three joints in every...

...Novona Rakotomanga; Ilian A. Bonev The Cartesian workspace of most three-degree-of-freedom parallel mechanisms is divided by Type 2 (also called parallel) singularity surfaces into several regions. Accessing more than one such region requires crossing a Type 2 singularity, which is risky and calls...

...Sébastien Briot; Vigen Arakelian In our previous work ( 2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983 ), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2...

... triangular platforms. Although it has been revealed numerically elsewhere that for this parallel manipulator, the four solutions to the FDA fall, respectively, into its four singularity-free regions (in its workspace), it is unclear if there exists a one-to-one correspondence between the four formulas, each...