Parallel mechanisms show desirable characteristics such as a large payload to robot weight
ratio, considerable stiffness, low inertia and high dynamic performances. In particular …

Orientating a rigid body without changing its position is required in many technical
applications. This manipulation task is accomplished by manipulators (spherical …

Parallel manipulators are constituted of two rigid bodies, one movable (platform) and the
other fixed (base), connected by a number of kinematic chains (legs). Manipulators with all …

Recently, it has been shown that a parallel mechanism architecture, called 3-UPU and used
for translational manipulators, can be employed to obtain manipulators able to make the end …

This paper investigates the problems of kinematics, Jacobian, singularity and workspace
analysis of a spatial type of 3-PSP parallel manipulator. First, structure and motion variables …

In the literature, 3-RRPRR architectures were proposed to obtain pure translation
manipulators. Moreover, the geometric conditions, which 3-RRPRR architectures must …

Coolant flow in rotating internal serpentine channels is highly complex due to the effects of
the Coriolis force and centrifugal buoyancy. Detailed knowledge of the heat transfer over a …

Closed chain mechanisms are used as robotic manipulators with special features. A planar
two-DOF closed loop mechanism provides desired position of an end effecter in a confined …

This paper presents an algorithm for generating trajectories for multi-degree of freedom
spatial linkages, termed constrained parallel manipulators. These articulated systems are …

This paper focuses on translational parallel manipulators (TPMs), that is on parallel
manipulators whose output link (platform) is provided with a pure translational motion with …