... have disadvantages like small workspaces and complex singularity. In this article, a novel redundant parallel mechanism (RPM) for long bone fracture reduction is proposed based on Stewart parallel mechanism (SPM). Six kinematically redundant DOFs (degrees-of-freedom) are added to the RPM. First...

... are maintained in tension. Contrary to previous works, the CDPR is parameterized to allow more freedom in the definition of the orientation of the parallelograms. The CDPR is designed based on workspace and kinematic sensitivity requirements, while avoiding singularities and mechanical interferences throughout...

..., and its workspace is compared with that of a conventional 3-RPS parallel mechanism with similar parameters. The results demonstrate that the 3-RPS/(H) metamorphic parallel mechanism exhibits better dexterity than that of the 3-RPS mechanism. Moreover, the effects of different structural parameters...

... and that of the corresponding non-redundant ones, an index related to the minimum singular value of the Jacobian matrix is used to indicate the position of the singular configuration relative to the boundaries of the required workspace. The driving torque and energy consumption can be optimized with this index. Based...

...Latifah Nurahmi; Dongming Gan This paper focuses on the reconfiguration of a 3-(rR)PS metamorphic parallel mechanism based on complete workspace and operation mode analysis. The mechanism consists of three (rR)PS legs, and each (rR) joint is composed of two perpendicular revolute joints. One...

...Chuanyang Li; Hongwei Guo; Dewei Tang; Huiyin Yan; Rongqiang Liu; Zongquan Deng Space manipulation has great prospects in aerospace applications. In this work, a multiloop robot, namely 3-R(SRS)RP multiloop mechanism, is presented. Its design, kinematics, singularity, and workspace are studied...

... International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA). In this paper, a structure has been proposed to enhance the workspace of the robot. This has been done by using more cables in the mechanism. However, no extra actuator has been added...

... are a particular class of parallel mechanisms where the moving platform (MP) is connected to the base platform (BP) through a set of cables [ 1 ]. Compared to linkage-driven designs, cable robots are usually less expensive, simpler, lighter, have low friction/inertia, and larger workspace [ 2–7 ]. On the other...

... on these, a unified singularity modeling is proposed by defining the geometric constraint forces and actuation forces in the Jacobian matrix with their change in the variable topologies in terms of constraint screws. Analysis of workspace with singularity distribution is carried out using this model and corresponding...

... of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind. The authors would like to acknowledge the support of Monash ESGS 2010, the ISL-FAST Program 2010, the French Agence Nationale de la Recherche (Project “SiRoPa,” Singularités des...

...Lei Cui; Jian S. Dai This paper presents a novel multifingered hand with an articulated palm that makes the hand adaptable and reconfigurable. The posture of the new multifingered hand is enhanced by the additional motion of the palm and the workspace of fingers is augmented by the palm workspace...

...Ali Ghasemi; Mohammad Eghtesad; Mehrdad Farid This paper presents workspace analysis of planar and spatial cable robots having one or more redundant cables. The proposed approach, which is based on a variant of Bland’s pivot rule, provides all poses (positions/orientations) reachable by the cable...

... displacements is achieved. Therefore, equipped with the same actuators, the mobile platform of the Pantopteron moves many times faster than that of the Tripteron. This amplification is defined by the magnification factor of the pantograph linkages. The kinematics, workspace, and constraint singularities...