Parallel robots are closed-loop mechanisms presenting very good performances in terms of
accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a …

Although the concepts of Jacobian matrix, manipulability, and condition number have
existed since the very early beginning of robotics their real significance is not always well …

Parallel mechanisms have been employed as architectures of high-precision vibration
isolation systems. However, their performances in all degrees of freedom (DOFs) are …

A review on state of the art of kinematic analysis and dynamic stable control of space flexible
manipulators (SFMs) is presented. Specially, SFM as a significant assembled part of …

The research presents a kinematic analysis of a recently proposed Delta-type parallel robot
with four degrees of freedom. In contrast to conventional Delta robots, the design of the …

The paper discusses the concepts of isotropy and decoupling in n-DoF (degrees of freedom)
manipulators: isotropy means that its kinetostatic properties are identical in all directions …

An optimal design method for the Gough–Stewart platform manipulators based on dynamic
isotropy is proposed. First, a dynamic isotropy measure is derived from the analysis of the …

This paper proposes an optimal design method based on dynamic isotropy conditions of a
generalized natural frequency matrix in task space for a standard Gough–Stewart parallel …

In this paper, the authors examine the problem of designing nominal manipulator Jacobians
that are optimally fault tolerant to one or more joint failures. Optimality is defined here in …

In this paper, a class of modified Gough-Stewart parallel manipulators (MGSPMs) with line
orthogonality is presented in order to fulfill the dynamic decoupling along the Z-axis …