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This paper firstly presents a novel 4-SPS/S (active chain/passive chain) parallel manipulator (PPM) driven by four pneumatic artificial muscles (PAMs). SPS denotes a spherical pair–prismatic pair–spherical pair chain and S denotes a spherical pair chain. The PPM proposed can be utilized as shoulder, wrist, waist, hip and ankle simulators or ankle rehabilitation robot. And we present a comprehensive...
In this paper, a novel four degrees of freedom (DOFs) parallel manipulator (PM) is introduced and its kinematics, workspace and optimal design are systematically studied. The manipulator is called 4RSS + PS PM having four active RSS type legs and one passive PS type leg. R, S and P stand for revolute, spherical and prismatic joints, respectively, and R denotes the actuated revolute joints. Moving...
To overcome the weakness of the present methods of singularity avoidance for 3-RRR planar parallel manipulator (PPM), a new method of avoiding singular points on planed paths in workspace via orientation perturbation to moving platforms is proposed. First, an inverse kinematics model of 3-RRR PPM is built. A discriminant matrix of type II singularity is specified and the mapping between determinant...
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