This paper presents a compilation of previous studies on the Stewart platform, which is a
class of six degree of freedom parallel manipulators. The abstraction of a parallel …

生产力发展与工程技术革新要求机构具备可自重组与可重构及“一机多用” 的功能,
以满足复杂工况需求. 可重构机构具有可变活动度和可变构态, 可以满足多任务 …

It is well known that a parallel mechanism at a singular configuration can gain one or more
degrees of freedom instantaneously, and at such a configuration it cannot resist externally …

The truss deployable antenna mechanism based on tetrahedral unit belongs to spatial multi
closed-loop coupled overconstrained mechanism, which has the advantages of high …

This article proposes a numerical method for the kinematic path modeling of retractable roof
structures based on the concept of kirigami. The kinematics of origami structures have been …

Model-based control of parallel kinematics machines (PKM) relies on computationally
efficient formulations in terms of a set of independent joint coordinates. Since PKM models …

This paper mainly deals with the kinematic analysis and performance comparisons of three
redundant parallel mechanisms for fracture reduction surgery. First, two novel kinematically …

In this work, we use the Monte Carlo method in conjunction with gradient based optimization
algorithms to optimally design multi-degree-of-freedom parallel manipulators and closed …

This paper is focused on the study of singularity of planar parallel manipulators taking into
account the force transmission, ie study of singularity of planar manipulator by introducing …

This paper proposes a control scheme that allows parallel manipulators to overcome a
major inherent challenge, namely, avoiding singularities occurring inside their workspaces …