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A novel spherical parallel manipulator (SPM), named Riflex, is designed and studied in this paper. Compared with the traditional SPMs, this novel SPM is composed of one rigid supporting limb and three flexible limbs, this type SPM has a great potential application in medical equipment and rehabilitation robots. The kinematics analysis, the numerical simulation of the kinematic analysis and the potential...
This paper studies the comparative stiffness analysis of two over-constrained 2-RPU&SPR parallel mechanisms, these two 2-RPU&SPR parallel mechanisms are different in the joint distribution. Firstly, the kinematics of the two mechanisms are analyzed, the inverse and the forward positon problems of the two manipulators are obtained. Then, the dexterity analyses of the two mechanisms are carried...
A spatial 2-RPU&SPR parallel manipulator (PM) with three degrees of freedom (DOF) is proposed in this paper. The architecture of the manipulator is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic motions of the prismatic joints are considered to be actively...
Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two 3-CRU TPMs have identical kinematics, but some differences exist in terms of the chain arrangement, one is in fully symmetrical chain arrangement, called symmetrical 3-CRU TPM, the other one is in asymmetrical chain arrangement, called asymmetrical 3-CRU TPM. This paper focuses on discussing...
In this paper, a novel over-constrained three degree-of-freedom (DOF) spatial parallel manipulator (SPM) is proposed. The architecture of the SPM is comprised of a moving platform attached to a base through two revolute- prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic joints are considered to be actively actuated. Kinematics and...
A novel 2-RRC+SPS parallel manipulator with three translational movements is proposed. The kinematics and dynamics of the manipulator is analyzed. According to its geometric model, a kinematic equation is derived, from which can obtain direct and inverse solution of position. The inverse solution of velocity and acceleration are also derived. The dynamic equation of the manipulator based on the Lagrange...
In this paper, a novel over-constrained parallel manipulator with three degree-of-freedom (DOF) is presented. Closed-form solutions are developed for both the inverse and forward kinematics of the mechanism. For the inverse kinematics, four possible solutions are determined. For the forward kinematics, a twenty-four order polynomial equation has been derived to determine all possible poses for the...
In this paper, the inverse kinematics and dynamics of the 3-RRRT parallel manipulator with three translational degrees of freedom are investigated. First, the equations of kinematics have been formulated by using close-vector approach. Then, the angular velocities and accelerations of the manipulator are developed. Furthermore, the inverse dynamics for the manipulator is performed by using Lagrange...
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