In this article, subject to time-varying delay and uncertainties in dynamics, we propose a
novel adaptive fixed-time control strategy for a class of nonlinear bilateral teleoperation …

This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs)
designed to be a haptic device for a medical tele-operation system. This architecture is …

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

In this paper, we present a novel three-degree-of-freedom (3-DOF) 3-PUU parallel
mechanism (PM) with multiple rotation centers. Having two rotational DOFs and one …

This paper investigates a comparative kinematic analysis between nonredundant and
redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is …

The article presents an approach to perform an instantaneous kinematic analysis of parallel-
serial (hybrid) manipulators using screw theory. In this study, we focus on non-kinematically …

This paper presents a novel kinematics architecture with 4 DoFs (degrees of freedom)
intended to be used as a haptic interface for laparoscopic surgery. The proposed …

The spherical parallel mechanism (SPM) offers several advantages such as high stiffness,
precision, a large workspace, immunity to interference, and simple kinematic calculations …

Bilateral teleoperation systems have received extensive attention as a substitute for the
human to perform tasks in remote and hazardous areas. This paper proposes a model …

This paper deals with a special architecture of DELTA robot designed to be used as a haptic
device. Delta robot, as all parallel manipulators, has complex kinematic models and …