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Type synthesis of the fully-decoupled two-rotational and one-translational parallel mechanism
Type synthesis of parallel mechanism is regarded as the theoretical basis and source for the original innovation design of mechanical devices and...
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Workspace analysis and size optimization of planar 3-DOF redundantly actuated parallel mechanism
Parallel mechanism is widely used due to its high stiffness, strong bearing capacity, small accumulated error, and good dynamic performance. In this...
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Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation
The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle, which...
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Design and Analysis of a Metamorphic Wrist Rehabilitation Parallel Mechanism
In order to improve the wrist rehabilitation training effect, a 3RPUP c -UPS metamorphic parallel mechanism is designed according to the physiological...
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Research on the kinematic calibration of the 3-PTT parallel mechanism
Most of the kinematic calibration methods of parallel mechanisms only consider the geometric error of the mechanism, and the calibration effect is...
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Research on Ground Microgravity Simulation System Based on Parallel Mechanism
This paper presents a reconfigurable satellite ground microgravity simulation system based on a parallel mechanism, which allows cxsfor adjustable...
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Analysis of Structure and Movement Characteristics of a Pipeline Parallel Mechanism
In this paper, a new kind of parallel mechanism of pipeline creep, 3-(P)URU(P), is introduced, and its configurations, kinematics, workspace, and...
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A Novel Method for Type Synthesis of Parallel Mechanism Without Parasitic Motion Based on 2R1T Parallel Mechanism with Rotational Bifurcation
The parasitic motion has been widely recognized as the major drawback of the parallel mechanism. Therefore a class of 2R1T PMs (parallel mechanism)...
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Dynamic Analysis and Impedance Control of a Novel Double-Driven Parallel Mechanism
This paper introduces the design, dynamic model, and impedance control of a novel five degrees of freedom (DOF) double-driven parallel mechanism...
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Bionic Muscle Control with Adaptive Stiffness for Bionic Parallel Mechanism
As the torso is critical to the coordinated movement and flexibility of vertebrates, a 6-(Degree of Freedom) DOF bionic parallel torso with...
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Kinematics, Dynamics and Simulation of a Novel Schönflies-Motion Parallel Mechanism
To meet the requirement of automatic pickup for high-speed parallel mechanisms, a new type of high-speed parallel mechanism which can realize...
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Dynamic characteristics and reliability analysis of parallel mechanism with clearance joints and parameter uncertainties
In parallel mechanisms, joint clearance is an important factor affecting their dynamic characteristics. Particularly, the coupling effect of...
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Synthesis method of new weakly-coupled 5-DOF compliant parallel mechanism
Compared with the strongly-coupled parallel mechanism, the weakly-coupled mechanism can realize two kinds of mutually independent motions. In this...
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Design and Analysis of a Novel Shoulder Exoskeleton Based on a Parallel Mechanism
Power-assisted upper-limb exoskeletons are primarily used to improve the handling efficiency and load capacity. However, kinematic mismatch between...
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Configuration Design and Kinematic Performance Analysis of a Novel 4-DOF Parallel Ankle Rehabilitation Mechanism with Two Virtual Motion Centers
Aiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor...
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Leg Mechanism of a Quadruped Wheeled Robot with a 4-DoF Spherical Parallel Link Mechanism
To develop a quadruped wheeled robot with high mobility, we have designed and developed the leg mechanism of a quadruped wheeled robot, named...
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Motion/Force Transmissibility of a 5-DOF Parallel Driving Mechanism
In this paper, a spatial parallel driving mechanism (PDM) with a coupling chain is proposed to generate the 5-DOF (3T2R) motion. A description of its...
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Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed-Loop Units and High Stiffness
In order to solve the problem of weak stiffness of the existing fully decoupled parallel mechanism, a new synthesis method of fully decoupled three...
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Accuracy modeling, analysis and radical error distribution of 3-RPR planar parallel mechanism
Output accuracy performance is directly determined by geometric errors and working poses of a mechanism. Accuracy sensitivity as geometric error...
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A Novel 3-UPU Parallel Ankle Rehabilitation Mechanism
Based on the analysis of existing ankle rehabilitation devices, a new ankle rehabilitation mechanism based on 3-UPU parallel mechanism is proposed in...