5 accepted papers
We present a Lie group implicit formulation for kinematically redundant parallel manipulators that yields left-trivialized extended Jacobians for the extended task variable <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="L
We present a Lie group implicit formulation for kinematically redundant parallel manipulators that yields left-trivialized extended Jacobians for the extended task variable x = (g, ρ) ∈ SE(3) × R. On top of this model we design a gradient-based redundancy flow on the redundancy manifold that empiric…
Parallel robots with configurable platforms (PRCPs) combine the benefits of parallel robots with additional functionalities such as grasping and cutting. However, some of the theoretical tools used to study classical parallel robots do not apply to parallel robots with configurable platforms. This p…
A novel 3-[R(RR-RRR)SR] kinematically redundant 6+3-degree-of-freedom (dof)spatial hybrid parallel robot with revolute actuators is proposed. The kinematic model is developed based on the constraint conditions of the robot. It is shown that the type II (parallel) singularities can be completely avoi…
The rotational workspace of a parallel manipulator is mainly limited by type II singularities. In this letter, we present an approach to synthesize three-legged planar <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX"