Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace

DeLiA: a New Family of Redundant Robot Manipulators

“…Furthermore, many practical applications do not require the six degrees of freedom of a general Gough-Stewart platform, particularly five-degrees-of-freedom parallel manipulators had been proposed, among simple pointing devices, as multi-axis machine tools (Bohez, 2002;Zheng et al, 2005;Gao et al, 2005Gao et al, , 2006, bio-mechanical devices (Zhu et al, 2008;Gallardo-Alvarado, 2010) or new architectures for medical applications (Vlachos & Papadopoulos, 2005;Piccina, 2009). With these considerations in mind and with the motivation that not always is essential a pure parallel kinematic topology, this work is intended to be a viable option to the development of a new class of five-degrees-of-freedom robots with a nearly parallel kinematic architecture, preserving the advantages of serial-parallel manipulators but with the possibility to mount all the active limbs on the fixed platform.…”

Dynamic Analysis of Redundant Parallel Manipulator

“…Redundant drive, introduced to the parallel mechanism, can solve these problems, effectively [3] . Redundant drive means that the degree of freedom of parallel mechanism is less than the number of drives.…”

Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs

“…Wang and Wu et al [8,9] proposed a redundantly actuated PM of a 5-DoF hybrid machine tool and studied its inverse dynamics by virtual work principle. Piccin [10] and Mehdi presented the architecture of some 5-DoF PMs with 3T2R for semi-spherical workspace, Gosselin [11] et al proposed a 5-RPUR PM with identical limb structures and studied their inverse/forward displacement.…”