Robotic rehabilitation devices are more frequently used for the physical therapy of people
with upper limb weakness, which is the most common type of stroke-induced disability …

The Jacobian model is a prevalent tool for error compensation in multi-axis parallel
mechanisms. However, discrepancies between the model's nominal and actual geometrical …

Compared to serial robots, parallel robots have potential superiorities in rigidity, accuracy,
and ability to carry heavy loads. On the other hand, the existence of complex dynamics and …

In this paper, an adaptive chattering free neural network‐based sliding mode control (ACFN‐
SMC) method is proposed for tracking trajectories of redundant parallel manipulators. ACFN …

This paper presents a new methodology for modeling and simulation of spherical parallel
manipulators (SPM) in CoppeliaSim (V-REP) robot simulator software. Using a SPM with …

This paper presents a novel framework for the analysis of a 3-RRR spherical parallel
manipulator with coaxial input axes (coaxial SPM) with the focus on its infinite rotational …

In this article, the solution to the inverse and forward kinematics of a novel three-legged,
serial-parallel, compliant robot are presented. The design of the robot aims to combine …

This paper presents an extended approach for computing unique solutions to forward and
inverse kinematics of a three degrees-of-freedom spherical parallel manipulator (SPM) with …

This paper presents a methodology for the design and control of Parallel Kinematic Robots
(PKRs). First, one focuses on the problematics of design. In particular, given a parallel …

RRR spherical parallel mechanisms (SPMs) have been extensively studied due to their
numerous applications. Substantial effort has been devoted to their forward kinematics (FK) …