This article presents a model of a novel 4-DOF kinematically redundant planar parallel
grasping manipulator. As distinct from the traditional 4-DOF manipulator, the proposed …

The prototype machine of gait training and rehabilitation (MGTR) with a five-bar linkage
structure was designed to improve the common end-effector type. Additionally, the study was …

Improving the accuracy of parallel kinematic machines (PKMs) for practical applications
remains a significant challenge. This paper focuses on reducing the PKM's tracking error …

Singular configurations of parallel manipulators (PMs) are special poses in which the
manipulators cannot maintain their inherent infinite rigidity. These configurations are very …

Instantaneous center (IC) analysis of a mechanism is very important in mechanism analysis,
since the analysis gives intuition about the global movement of the mechanism, and the …

This paper presents a force control based on the observer without taking any force or torque
measurement from the robot which allows realizing more stable and robust human robot …

A 3-RRR parallel manipulator has been well-known as a closed-loop kinematic chain
mechanism in which the end-effector generally a moving platform is connected to the base …

The synthesis of mechanisms has an important effect in the product development. A
mechanism has two basic kinds of functions, ie to transform motion and to transform force …

Sažetak The existing singularity avoidance methods have deficiencies, such as the
conditionality of the online conversion of the assembly modes (AMs) and the kinematically …

摘要(中) 神經手術內視鏡是腦神經外科常使用的手術設備, 用以協助腦神經外科手術醫師透過
微小創口窺見患者大腦內部. 使用時, 醫生需先在病人的顱骨上鑽孔, 然後將內視鏡插入腦部到達 …