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The paper presents a special family of fully-isotropic T3R2-type parallel robotic manipulators (PMs) with five degrees of freedom called Isoglide5-T3R2-D. The mobile platform has three independent translations (T3) and two rotations (R2). A one-to-one correspondence exists between the actuated joint velocity space and the external velocity space of the moving platform. The Jacobian matrix mapping...
This paper presents a simple numerical method for forward kinematics of a general 6-DOF parallel manipulators, which can generate a unique solution directly. This method utilizes the trivial nature of the inverse kinematics of parallel manipulators, and derives a straightforward linear relationship between the small change of joint variables (leg lengths) and the resulting small motion of the platform...
This paper is introducing a prototype of a novel 6 DOF parallel robot POLMAN-3times2 dedicated for fast manipulation. In the manipulator design the special motion transmission mechanisms was applied bringing a dynamic decoupling. Robot has an unique kinematics structure. Adequate selection of link lengths and design of mass distribution resulted in good kinematic properties (e.g. large workspace)...
In this paper a performance analysis is presented for a low-cost parallel manipulator with 4 driven cables. Kinematics, statics, and a method for monitoring and verifying positive cable tensions are presented. A prototype has been built and tests have carried out to verify the feasibility of the system design and its operation. Experimental tests have been carried out for monitoring the cables' tension...
In this paper, a novel approach to the identification of instantaneous and continuous motions of a constrained rigid body is proposed by employing the concept of constraining-power rate. With the investigation into the constraining-power rate of a general constrained rigid body, the sufficient and necessary conditions of continuous motion of a general constrained rigid body are firstly presented....
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