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Relevant bibliographies by topics / Parallel manipulator

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Academic literature on the topic 'Parallel manipulator'

Author: Grafiati

Published: 4 June 2021

Last updated: 26 July 2025

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Journal articles on the topic "Parallel manipulator"

1

Ando, Noriaki, Masahiro Ohta, Kohei Gonda, and Hideki Hashimoto. "Workspace Analysis of Parallel Manipulator for Telemicromanipulation Systems." Journal of Robotics and Mechatronics 13, no. 5 (2001): 488–96. http://dx.doi.org/10.20965/jrm.2001.p0488.

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This paper describes the research results on telemicromanipulation systems for microlevel tasks. Because of its better manipulation precision, stiffness and speed characteristics, the parallel mechanism micromanipulator was chosen to compose our systems. First, the kinematic analysis of our original manipulator mechanism is performed. Then, the structure of our parallel manipulator, control scheme, and experimental results are shown. Position accuracy and device control characteristics are analyzed and the feasibility of the use of parallel mechanisms for micromanipulator is then discussed. A

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Wang, Kun, Xiaoyong Wu, Yujin Wang, Jun Ding, and Shaoping Bai. "Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 236, no. 6 (2021): 2828–46. http://dx.doi.org/10.1177/09544062211032998.

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Inspired by dual-arm-like manipulation, a novel 6-DOF parallel manipulator with two spherical-universal-revolute limbs is proposed. Compared with general 6-DOF parallel manipulators with six limbs, this new manipulator actuated by spherical motion generators has only two limbs, which brings advantages such as fewer active limbs for avoiding interference, larger reachable and orientational workspace for complex operating, more actuators integrated in active modules for decreasing installation errors and increasing compactness. In this paper, the kinematics of this novel parallel manipulator is

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Kumar, V. "Characterization of Workspaces of Parallel Manipulators." Journal of Mechanical Design 114, no. 3 (1992): 368–75. http://dx.doi.org/10.1115/1.2926562.

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The workspaces and kinematic characterization of serial chain manipulator geometries and the geometric optimization have been studied extensively. Much less is known about workspaces for manipulation systems which possess several serial chains arranged in parallel. In this paper, two well known workspaces, the reachable workspace and the dexterous workspace, are investigated for parallel manipulators. A general method for obtaining these workspaces is presented. The existence of numerous special configurations in the workspace present problems in manipulator control. Therefore the controllably

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4

Atia, Khaled R., and M. P. Cartmell. "A general dynamic model for a large-scale 2-DOF planar parallel manipulator." Robotica 17, no. 6 (1999): 675–83. http://dx.doi.org/10.1017/s0263574799001794.

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In this work a new concept of designing two degree of freedom (2-DOF) planar parallel manipulators (PPMs) is presented. With this design the manipulator's workspace can be increased by increasing the number of cells in the manipulator. A general dynamic model is formulated for the manipulator with any number of cells. The model is adapted for SCARA and ADEPT configurations, and a new approach for balancing these type of manipulators is proposed.

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Abhishek, S., Monika Bellary, M. Keerthana, V. S. Srinivasan, A. Varun, and Anjan Kumar Dash. "Modelling and Workspace Analysis of Parallel-Serial Hybrid Manipulator." Applied Mechanics and Materials 813-814 (November 2015): 1028–31. http://dx.doi.org/10.4028/www.scientific.net/amm.813-814.1028.

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The workspace and load bearing involved in a given operation are the deciding criteria for choosing the size and type of the manipulator that has to be used. The hybrid manipulator, which is a serial manipulator mounted on top of a parallel manipulator, derives benefits from both, such as better rigidity from the parallel manipulator and better dexterity from the serial manipulator. In this paper, comparative study of workspace and effectiveness of a hybrid manipulator is done to bring out its advantages, in comparison to a parallel or a serial manipulator. The workspace is determined using ge

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Liu, Xin-Jun, Jay il Jeong, and Jongwon Kim. "A three translational DoFs parallel cube-manipulator." Robotica 21, no. 6 (2003): 645–53. http://dx.doi.org/10.1017/s0263574703005198.

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This paper concerns the presentation and analysis of a type of three translational degrees of freedom (DoFs) parallel cube-manipulator. The parallel manipulators are the topology architectures of the DELTA robot and Tsai's manipulator, respectively, which have three translational DoFs. In the design, the three actuators are arranged according to the Cartesian coordinate system, which means that the actuating directions are normal to each other, and the joints connecting to the moving platform are located on three sides of a cube, for such reason we call this type of manipulator the parallel cu

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Zhao, Jing-Shan, Zhi-Jing Feng, Li-Ping Wang, and Jing-Xin Dong. "The free mobility of a parallel manipulator." Robotica 24, no. 5 (2006): 635–41. http://dx.doi.org/10.1017/s0263574706002724.

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Singularities of a manipulator have been addressed repeatedly. However, the singularities and the degree(s) of freedom, as a matter of fact, are two different aspects of the mobility of a manipulator. Consequently, this paper dedicates to discussing the mobility properties through mobility space, which synchronously define the type, number and direction characteristics of the independent motions that the manipulator should execute. The mobility space of a manipulator can be obtained with reciprocal screws of the manipulator via singular value decomposition, which instantaneously depicts the si

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Liu, Wen Jun, Yu Feng Luo, and Mei Tao Fu. "Study on the Parallel Modeling of Spatial Parallel Manipulator." Advanced Materials Research 472-475 (February 2012): 2096–99. http://dx.doi.org/10.4028/www.scientific.net/amr.472-475.2096.

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The modeling approach of spatial parallel manipulator has been extensively studied based on the SOC theory in this paper. According to the characteristics of the parallel robot mechanism’s , ideas and general methods of spatial parallel manipulator modeling in parallel has been proposed and typical spatial mechanism’s modeling has been performed. Study shows that the parallel modeling approach can dramatically increase the modeling and solving efficiency for parallel manipulators.

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Parsa, S. S., J. A. Carretero, and R. Boudreau. "Internal redundancy: an approach to improve the dynamic parameters around sharp corners." Mechanical Sciences 4, no. 1 (2013): 233–42. http://dx.doi.org/10.5194/ms-4-233-2013.

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Abstract. In recent years, redundancy in parallel manipulators has been studied broadly due to its capability of overcoming some of the drawbacks of parallel manipulators including small workspaces and singular configurations. Internal redundancy, first introduced for serial manipulators, refers to the concept of adding movable masses to some links so as to allow to control the location of the centre of mass and other dynamic properties of some links. This concept has also been referred to as variable geometry. This paper investigates the effects of internal redundancy on the dynamic propertie

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Takosoglu, Jakub, Urszula Janus-Galkiewicz, and Jarosław Galkiewicz. "A Design of a 2-DoF Planar Parallel Manipulator with an Electro-Pneumatic Servo-Drive." Energies 15, no. 22 (2022): 8482. http://dx.doi.org/10.3390/en15228482.

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This paper presents the design of a planar parallel manipulator with a pneumatic drive. Such manipulators are used in production lines for sorting, selecting, packing, and palletizing workpieces. This paper presents simulation studies of the designed manipulator in Matlab/Simulink software and using the SimMechanics library. A simple kinematics problem and an inverse kinematics problem were solved in order to carry out simulation studies of the designed manipulator. Simulation studies were also carried out on the dynamics of the manipulator using a mathematical model describing the physical ph

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Dissertations / Theses on the topic "Parallel manipulator"

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Hopkins, Brian. "Modified ParaDex: Theory and hardware implementation of a 6-prismatic-spherical-universal parallel manipulator." Ohio : Ohio University, 2001. http://www.ohiolink.edu/etd/view.cgi?ohiou1173899557.

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Johnson, Kevin Matthew. "Development of a statically balanced parallel platform manipulator." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/15947.

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Meunier, Gabriel. "Control of an overactuated cable-driven parallel manipulator." Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=99779.

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The Large Adaptive Reflector is the Canadian concept for a new type of large-scale radio telescope. This new telescope is composed of a reflector made of individually actuated panels and a multi-tethered feed platform held aloft by an aerostat. The present thesis focuses on the position and orientation control of the feed platform. In the first part of the thesis, a model of both the cable and the feed platform are derived. Then, a control fully adapted to the particular system's dynamics is designed. This control strategy is based on the cascade control technique. The inner control loop adjus

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Grigg, Kenneth Edward Carleton University Dissertation Engineering Electrical. "Design of parallel software for adaptive manipulator control." Ottawa, 1991.

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Van, Walsum Eric. "Direct and inverse kinematics of a highly parallel manipulator." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ29634.pdf.

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Smith, Anthony Lawrence. "Adaptive control of a three link in-parallel manipulator." Thesis, Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/17957.

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Syed, Mohammad Athar. "Modelling and control of a parallel-actuated robot manipulator." Thesis, Cardiff University, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.388459.

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Amin-Javaheri, Masoud. "Parallel algorithms and architectures for the manipulator inertia matrix /." The Ohio State University, 1989. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487599963592857.

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Palpacelli, Matteo Claudio. "Design and prototyping of an innovative cartesian parallel manipulator." Doctoral thesis, Università Politecnica delle Marche, 2008. http://hdl.handle.net/11566/242429.

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Montgomery, Forrest. "Design and Control of a Planar Cable Suspended Parallel Manipulator." Thesis, University of Louisiana at Lafayette, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10608124.

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<p> Cable Suspended Parallel Manipulators represent an emerging field of study due to the complexities predicting their pose. Despite this issue, suspended cable manipulators possess several advantages over fully-constrained cable manipulators. These include, among others, ease of setup and fewer cables. The reduction in cables relieves excess force computation and likelihood of cable interference. </p><p> Two planar Cable Suspended Parallel Manipulator models were created. One has one end-effector connection point, a pendulum type <p style="font-variant: small-caps">CSPM</p>, and the other

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Books on the topic "Parallel manipulator"

1

Lathrop, Richard H. Parallelism in manipulator dynamics. MIT Artificial Intelligence Laboratory, 1986.

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2

Wu, Huapeng. Analysis, design and control of a hydraulically driven parallel robot manipulator. Lappeenrannan teknillinen korkeakoulu, 2001.

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3

Center, Langley Research, ed. Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism. National Aeronautics and Space Administration, Langley Research Center, 1992.

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Center, Langley Research, ed. Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism. National Aeronautics and Space Administration, Langley Research Center, 1992.

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5

Williams, Robert L. Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism. National Aeronautics and Space Administration, Langley Research Center, 1992.

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6

Piras, Gabriel. Dynamic finite-element analysis of a planar high-speed, high-precision parallel manipulator with flexible links. National Library of Canada, 2003.

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7

Sholanov, Korganbay Sagnayevich. Parallel Manipulators of Robots. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-56073-7.

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8

Li, Qinchuan, Chao Yang, Lingmin Xu, and Wei Ye. Performance Analysis and Optimization of Parallel Manipulators. Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-0542-3.

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9

Li, Qinchuan, Jacques M. Hervé, and Wei Ye. Geometric Method for Type Synthesis of Parallel Manipulators. Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-13-8755-5.

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Gallardo-Alvarado, Jaime. Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-31126-5.

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Book chapters on the topic "Parallel manipulator"

1

Gallardo-Alvarado, Jaime. "3R2T Parallel Manipulator." In Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-31126-5_8.

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2

Gallardo-Alvarado, Jaime. "3-RRPS Parallel Manipulator." In Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-31126-5_10.

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Gallardo-Alvarado, Jaime. "3RRRS+3RRPS Parallel Manipulator." In Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-31126-5_11.

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4

Seo, Kap-Ho, Yongsik Park, Sungjo Yun, Sungho Park, Jungsoo Jun, and Jeongtack Min. "Dynamic Control of Parallel Manipulator." In Advances in Intelligent Systems and Computing. Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-37374-9_90.

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Sholanov, Korganbay Sagnayevich. "Examples of One-Loop Manipulator Applications." In Parallel Manipulators of Robots. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-56073-7_8.

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Liu, Xin-Jun, and Jinsong Wang. "Kinematic Optimal Design of a Spatial 3-DOF Parallel Manipulator." In Parallel Kinematics. Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-36929-2_9.

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Klimchik, Alexandr, Anatol Pashkevich, and Damien Chablat. "Evaluation of Manipulator Stiffness Model Parameters." In Parallel Robots: Theory and Applications. Springer Nature Switzerland, 2025. https://doi.org/10.1007/978-3-031-76320-5_7.

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Han, Jun-Wei, Wei Wei, and Zhi-Dong Yang. "Dynamics Decoupling Control of Parallel Manipulator." In Dynamic Decoupling of Robot Manipulators. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-74363-9_5.

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Di Gregorio, R., and V. Parenti-Castelli. "A Translational 3-dof Parallel Manipulator." In Advances in Robot Kinematics: Analysis and Control. Springer Netherlands, 1998. http://dx.doi.org/10.1007/978-94-015-9064-8_5.

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Baigunchekov, Zhumadil, Maksat Kalimoldayev, Sayat Ibrayev, et al. "Parallel Manipulator of a Class RoboMech." In Lecture Notes in Electrical Engineering. Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2875-5_45.

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Conference papers on the topic "Parallel manipulator"

1

Johnson, Andrew, and Xianwen Kong. "Determination of the Workspace of Parallel Manipulators Using a CAD Software and the Concept of Virtual Chains." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12586.

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Development of a new parallel manipulator can be very time consuming due to the traditional method of producing kinematic, dynamic and static calculation models and then evaluating them to determine aspects of the manipulator’s performance indices such as the mechanism’s workspace and singularity analysis. By extending the virtual chain approach to the type synthesis of parallel manipulators, this paper proposes a virtual-chain approach to the workspace analysis of parallel manipulators. This method is illustrated by producing and evaluating the workspace of several parallel robots including t

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Kong, Xian-Wen. "Generation of Singular 6-SPS Parallel Manipulators." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5952.

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Abstract A singular 6-SPS parallel manipulator is a 6-SPS parallel manipulator with architecture singularities spanning over the whole workspace. It should be abandoned in the design process. This paper presents a component method for generation of singular 6-SPS parallel manipulators. The proposed method is based on that a 6-SPS parallel manipulator with one or more over-actuated components or singular components must be a singular 6-SPS parallel manipulator. Some classes of singular 6-SPS parallel manipulators can be generated from the generation of over-actuated components or singular compo

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3

Zhang, Yanbin, and Kwun-lon Ting. "Type Synthesis of Uncoupled 2T2R Parallel Manipulators." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70626.

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This paper presents a simple and systematic method for type synthesis of four-degree-of-freedom uncoupled parallel manipulators with two-translational and two-rotational (2T2R) motion components. Based on the concept of hybrid manipulator, one uncoupled 2T2R hybrid manipulator, which is composed of one full-isotropic planar 2T1R parallel manipulator and one revolute joint in serial assembly, is designed first. Then the structure synthesis of the fourth leg of 2T2R parallel manipulator is performed in terms of the reciprocal screw theory. Finally, the type synthesis of uncoupled 2T2R parallel m

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Mohammadi Daniali, H. R., P. J. Zsombor-Murray, and Jorge Angeles. "On Singularities of Planar Parallel Manipulators." In ASME 1993 Design Technical Conferences. American Society of Mechanical Engineers, 1993. http://dx.doi.org/10.1115/detc1993-0350.

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Abstract The singularities of the Jacobian matrices of two manipulator with three degrees of freedom are analyzed. One is a planar 3-legged manipulator; the other, a planar double-triangular manipulator. A general classification of parallel-manipulator singularities into three groups is described. The classification scheme relies on the properties of the Jacobian matrices of the manipulator. Finally, the three types of singularity are identified for the two manipulators.

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Kong, Xian-Wen. "Forward Displacement Analysis of Three New Classes of Analytic Spherical Parallel Manipulators." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5953.

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Abstract The analytic manipulator is a manipulator the characteristic polynomial of which is of fourth degree or lower. Three new classes of analytic spherical parallel manipulators with prismatic actuators are proposed. The first is the spherical parallel manipulator with non-similar planar platforms, the second is the spherical parallel manipulator with similar planar platforms, and the third is the spherical parallel manipulator with orthogonal platforms. The forward displacement analysis of these new classes of spherical parallel manipulators is investigated in sequence. Polynomials of deg

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Kong, Xianwen, and Cle´ment M. Gosselin. "Type Synthesis of Six-DOF Wrist-Partitioned Fully Parallel Manipulators." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35531.

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A six-DOF wrist-partitioned fully parallel manipulator is a parallel manipulator in which three of the six actuated joints are used to control the position of a point on the moving platform while the other three are further used to control the orientation of the moving platform. Such parallel manipulators are in fact the parallel counterparts of the wrist-partitioned serial manipulators, which are widely used in industry. Unlike parallel manipulators of a general structure, a six-DOF wrist-partitioned fully parallel manipulator usually has simple kinematic characteristics such as its forward d

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Kozak, Kris, Imme Ebert-Uphoff, and William Singhose. "Analysis of Varying Natural Frequencies and Damping Ratios of a Sample Parallel Manipulator Throughout its Workspace Using Linearized Equations of Motion." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/vib-21529.

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Abstract This article investigates the dynamic properties of robotic manipulators of parallel architecture. In particular, the dependency of the dynamic equations on the manipulator’s configuration within the workspace is analyzed. The proposed approach is to linearize the dynamic equations locally throughout the workspace and to plot the corresponding natural frequencies and damping ratios. While the results are only applicable for small velocities of the manipulator, they present a first step towards the classification of the nonlinear dynamics of parallel manipulators. The method is applied

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Caro, Ste´phane, Nicolas Binaud, and Philippe Wenger. "Sensitivity Analysis of Planar Parallel Manipulators." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49534.

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This paper deals with the sensitivity analysis of planar parallel manipulators. A methodology is introduced to derive the sensitivity coefficients by means of the study of 3-RPR manipulators. As a matter of fact, the sensitivity coefficients of the pose of its moving platform to variations in the geometric parameters are expressed algebraically, the variations being defined both in Polar and Cartesian coordinates. The dexterity of the manipulator is also studied by means of the conditioning number of its normalized kinematic Jacobian matrix. As an illustrative example, the sensitivity of a sym

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Zhou, Hong, Shehu T. Alimi, Aravind Ravindranath, and Hareesh Vepuri. "Motion Performance Analysis of Double-Cylinder Parallel Manipulators." In ASME 2009 International Mechanical Engineering Congress and Exposition. ASMEDC, 2009. http://dx.doi.org/10.1115/imece2009-10542.

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Double-cylinder parallel manipulators are closed-loop two-degree-of-freedom linkages. They are preferred to use because of their simplicity plus the common advantages of parallel manipulators such as high stiffness, load-bearing, operation speed and precision positioning. Like other parallel manipulators, the output motion of double-cylinder parallel manipulators is not as flexible as two-degree-of-freedom serial manipulators. The motion performance analysis plays a critical role for this type of parallel manipulator to be applied successfully. In this paper, the linkage feasibility conditions

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Li, Yanwen, Fengfeng Xi, Lumin Wang, Yueyue Zhang, and Zhen Huang. "Workspace Investigation of a Novel Parallel Manipulator." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86281.

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The manipulator workspace denotes the work area of a manipulator and it is an important foundation of designing a robot. The workspace of a novel symmetrical 4-DOF 3-RRUR parallel manipulator is researched here based on the inverse solution. Five essential conditions of a point within the workspace of the manipulator are presented and the cause of the existence of each condition is given. According to the characteristics of this parallel mechanism and the geometrics, and based on the inverse kinematical solution of the mechanism, the reachable workspace under the five conditions is ascertained

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Reports on the topic "Parallel manipulator"

1

Stelmakh, Marta. HISTORICAL CONTEXT IN THE COLLECTION OF ARTICLES BY TIMOTHY SNYDER «UKRAINIAN HISTORY, RUSSIAN POLITICS, EUROPEAN FUTURE». Ivan Franko National University of Lviv, 2021. http://dx.doi.org/10.30970/vjo.2021.50.11098.

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The article examines the problem of the image formation of Ukraine in the international arena in the historical journalism of Timothy Snyder. The subject of the research is the historical context in the journalistic collection «Ukrainian History, Russian Politics, European Future». It identifies the main considerations of the author on the past of Russian-Ukrainian relations and the need to develop historical consciousness in the fight against Russian manipulation. Methodology: the comparative, historical, system analysis and other methods are used in the process of scientific research. The re

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Loebenstein, Gad, William Dawson, and Abed Gera. Association of the IVR Gene with Virus Localization and Resistance. United States Department of Agriculture, 1995. http://dx.doi.org/10.32747/1995.7604922.bard.

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We have reported that localization of TMV in tobacco cultivars with the N gene, is associated with a 23 K protein (IVR) that inhibited replication of several plant viruses. This protein was also found in induced resistant tissue of Nicotiana glutinosa x Nicotiana debneyi. During the present grant we found that TMV production is enhanced in protoplasts and plants of local lesion responding tobacco cultivars exposed to 35oC, parallel to an almost complete suppression of the production of IVR. We also found that IVR is associated with resistance mechanisms in pepper cultivars. We succeeded to clo

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