... 16 07 2024 18 07 2024 08 08 2024 Graphical Abstract Figure hip exoskeleton parallel mechanism misalignment anisotropy output torque parallel mechanisms and robots rehabilitation mechanisms and robots wearable robots and exoskeletons Natural Science...

...Huiping Shen; Yao Tang; Marco Ceccarelli; Ju Li; Tao Li; Hongbo He Two-limb parallel mechanisms (PMs) can have several advantages, such as avoidance of mechanical collision, fairly simple architecture, easy assembly, and large workspace. The paper presents a novel two-limb three-degree-of-freedom...

...Ming Han; Bin Xiong; Jinyue Liu; Dong Yang; Tiejun Li Aiming at the inherent defects of single-drive mode parallel mechanisms, such as small good workspace and many singular configurations, a new multi-drive mode parallel mechanism is proposed from the perspective of driving innovation. Taking...

...Xiaofei Liu; Bo Wan; Yu Liu; Ran Chen; Jiantao Yao; Yongsheng Zhao A novel symmetric parallel mechanism 6RPS with multi-redundant actuations is proposed in this paper, which possesses two rotational and one translational degrees-of-freedom. Motion and constraint screw systems of this mechanism...

... 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...

...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...

... 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...

... 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...

... the demand of high-speed sorting tasks because of the advantages of low inertia and excellent dynamic characteristics [ 1 ]. The Delta configuration proposed by Clavel in 1985 [ 2 ] is a classical parallel mechanism and has been well developed, as shown in Fig. 1( a ) . Fig. 1 ( a ) Delta and ( b...

...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...

... parallelograms and are also associated with self-motion of some translational parallel mechanisms. In this paper, the type synthesis of 6RMCTs will start from the (single-DOF) hybrid 6R mechanisms [ 1 ], Bricard plane symmetric mechanism, and Bricard line symmetric mechanism. Among the five hybrid 6R...

... , J. K. , and Hunt , K. H. , 2004 , Robots and Screw Theory: Applications of Kinematics and Statics to Robotics , Oxford University Press , New York. [20] Kong , X. , and Gosselin , C. , 2007 , Type Synthesis of Parallel Mechanisms , Springer , New York . [21] Dai , J. S...

... 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...