... surgeries. The current limitation of robot-assisted femur fracture surgery is the lack of large force generation and sufficient workspace size in traditional mechanisms. To address these challenges, our group has created a 3- R R P S parallel mechanism, Robossis, which maintains the strength of parallel...

... by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 25 02 2022 13 06 2023 16 06 2023 20 07 2023 microsurgical instruments six-degree-of-freedom parallel mechanism kinematic pseudo-rigid rigid-flexible coupling...

... of the parallel mechanism (PM). In order to solve this problem, this paper proposes an inverse Jacobian matrix construction method based on performance indices. The method is realized by constructing singular values and singular vectors directly related to the performance indices. Furthermore, based on the screw...

...Ju Li; Hongbo He; Guanglei Wu; Tao Li; Huiping Shen This paper presents the design and analysis of a family of full-hinged partially-decoupled novel parallel mechanisms (PMs) featuring one/two translation(s) and one rotation (1T1R/2T1R). First, three 2DOF 1T1R and one 3DOF 2T1R novel spatial PMs...

... Kinematics Seminar: Development Methods and Application Experience of Parallel Kinematics , Chemnitz, Germany , Apr. 23–25 , pp. 579 – 594 . [5] Wang , M. , Liu , H. , and Huang , T. , 2017 , “ An Approach for the Lightweight Design of a 3-SPR Parallel Mechanism ,” ASME J. Mech. Rob...

...Bo Hu; Zhiyong Liu; Jinjun Zhao; Jingyu Zhao; Jiantao Yao The existing displacement of parallel + serial type hybrid mechanisms is mainly solved by the equivalent serial mechanism (SM) method. However, a large number of lower mobility parallel mechanisms (PMs) that have high coupled motions...

... the spherical-linkage parallel mechanism (SLPM) as a flexure hinge. The analysis suggests that the SLPM is highly flexible and meets the requirements for many DoFs (degrees-of-freedom) needed in various fields. The folding ratio of the SLPM was 72.73. Following this, we present an SLPM compliant module powered...

...Xianwen Kong A 3-degree-of-freedom (DOF) 3-UPU translational parallel mechanism (TPM) is one of the typical TPMs. Despite comprehensive studies on 3-UPU TPMs in which the joint axes on the base and the moving platform are coplanar, only a few 3-UPU TPMs with skewed base and moving platform have...

...Jingke Song; Chen Zhao; Kun Zhao; Wenjiang Yan; Ziming Chen In this paper, a symmetric 3-UPU (U and P represent universal and prismatic joints, individually) parallel mechanism and its variant mechanism under different geometric and assembly conditions are analyzed. Both have two rotational and one...

... . 15 12 2020 21 08 2021 23 08 2021 20 09 2021 cable-driven parallel robot parallel mechanism kinematics dynamics trajectory planning National Natural Science Foundation of China 10.13039/501100001809 U19A20101 With the rapid development of light...

...Peng Xu; Chi Fai Cheung; Bing Li; Chunjin Wang; Chenyang Zhao In this paper, a novel six degrees-of-freedom (DOF) hybrid kinematic machine (HKM) is designed, analyzed, and evaluated for precision polishing. The design adopts a 3-DOF tripod-based parallel mechanism (PM) to locate the workpiece, a 2...

...Hengchun Cui; Jun Wu; Qi Li This paper proposes a novel two-axis solar tracker with a redundant parallel mechanism and investigates the distribution method of driving torque. In view of the difference between the singular configuration of the redundant parallel mechanisms...

... legged mobile lander type synthesis truss-mechanism transformation parallel mechanism multi-loop chain In the exoplanet exploration project, the mission mainly includes Circling , Landing , Return three missions and Base Construction in the future [ 1 ]. So far, the Circling and Landing...

... subchain, the construction of 6RMCTs based on 6R overconstrained mechanisms without a planar 3R subchain are not apparent. Recent advances in the type synthesis of translational parallel mechanisms based on screw theory (see Ref. [ 16 ], for example) provide a solid starting point to solve the above...

... using CAD figures. This work may help readers better understand the geometric characteristics of singular configurations of a number of three-legged parallel manipulators. parallel mechanism screw theory singularity reciprocal screws Singularity analysis [ 1–4 ] is an important issue...

... online July 16, 2013. Assoc. Editor: J. M. Selig. 27 07 2012 20 04 2013 In this paper, we present the design of a novel 3- R US/ R RR redundantly actuated parallel mechanism for ankle rehabilitation based on the principle from the conceptual design. The proposed mechanism can...

...; published online June 10, 2013. Assoc. Editor: Qiaode Jeffrey Ge. 18 07 2012 28 03 2013 This paper introduces a new metamorphic parallel mechanism consisting of four reconfigurable rTPS limbs. Based on the reconfigurability of the reconfigurable Hooke (rT) joint, the rTPS limb has two...

...Ting-Li Yang; Dong-Jin Sun Based on the position and orientation characteristic (POC) set and the POC equations for serial mechanisms and parallel mechanisms proposed by authors, this paper presents a novel general degree of freedom (DOF) formula which is totally different from approaches based...

... open loop systems tendon-driven cable actuated spherical joint visual servoing parallel mechanism joint miniaturization Spherical joints have become an integral component in robotic applications, often comprising both the wrist and the shoulder of robotic manipulators. As a result, 3...

... mechanism quadratic parallel mechanism spherical parallel mechanism forward displacement analysis singularity analysis For most parallel manipulators, there are usually multiple solutions to the forward displacement analysis (FDA). Since a parallel manipulator usually works in one singularity...