The present paper is about a detailed review of planar parallel manipulators. Planar parallel
manipulators have three degrees of freedom, one linear motion along the X-direction, one …

In this study, effects of joint clearance on a welding robot manipulator are investigated.
Theoretical analysis is performed for different clearance sizes. By using the nonlinear spring …

Parallel robots (PRs) have singular configurations where the robot gains at least one degree-
of-freedom and loses control. Theoretically, such singularity occurs when the Forward …

This paper deals with the error modeling and analysis of a 3-P PR planar parallel
manipulator with joint clearances. The kinematics and the Cartesian workspace of the …

Output accuracy performance is directly determined by geometric errors and working poses
of a mechanism. Accuracy sensitivity as geometric error transmission coefficient, closely …

This work presents a parametric model of 3-PPR 1 planar parallel manipulators, aiming to
optimize shape design of the base and mobile platforms. The kinematic model is established …

The paper presents a simple and effective kinematic model and methodology to assess and
evaluate the extent of the position uncertainty caused by joint clearances for multiple-loop …

This work presents a comprehensive performance evaluation and optimum design of a
novel symmetrical 4-PPR (P indicates the prismatic joint, R denotes the revolute joint, and …

Design development and control of a shape memory alloy linear actuation based XYθ motion
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Singularity is an inherent property of robotic manipulators. A manipulator becomes singular
when it gains or losses degrees of freedom at a particular configuration. In this work, a type …