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This paper presents a comparison study of two unique micro-motion parallel kinematic manipulators (PKM): a three degrees of freedom (DOF) micro-motion PKM and a 3-DOF micro-motion PKM with actuation redundancy. The 3-DOF micro-motion PKM has three linear-motion driving units, while the 3-DOF micro-motion PKM with actuator redundancy has four of these units. For both designs, the linear motion driving...
Global Stiffness design and optimization of parallel mechanisms can be a difficult and time-consuming exercise in parallel robot design, especially when the variables are multifarious and the objective functions are too complex. To address this issue, optimization techniques based on kinetostatic model and genetic algorithms are investigated as the effective criteria. First, a 5-DOF parallel mechanism...
In this paper, the topic studied comprehensively is based on the constant stiffness mechanism of a clamp plate installed on a Parawrist robot and the optimization of the manipulatorpsilas functionality. Currently situated at the Ryerson University, the Parawrist robot is used for mold polishing applications to provide a smooth surface for a finished product. The content of this research focuses on...
There is an increasing requirement, in a variety of fields, for the ability to make microscopic movements or to position items with high degree of accuracy. In this paper, a parallel mechanism with prismatic actuators which encompasses three degrees of freedom and can produce motion on a microscopic level is proposed and developed. In order to produce such motion, the mechanism is composed of compliant...
In this paper, a robotic machine with 3 degrees of freedom (DOF) is proposed. First, the geometric structure of the 3-DOF parallel robot is presented; in the mechanism, a fourth kinematic link -a passive link connecting the base center to the moving platform center -is introduced. This last link is used to constrain the motion of the moving platform to only 3-DOF. Then, the kinematic and dynamic models...
A novel 3-RPS parallel kinematic machine is presented. Combination of the 3-dof parallel kinematic mechanism with a gantry system forms a five-axis machine with large workspace and dexterity. The geometric structure is presented first. Then the error model is derived from the kinematic equation. A effective method to establish error model is introduced. It helps the designer to understand the error...
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