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Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures

In this paper, a systematic approach is developed for the structural synthesis of a class of four-degrees-of-freedom (4-DoF) and 5-DoF overconstrained parallel manipulators with identical serial… Expand

Design and Kinematical Performance Analysis of a 3-RUS/RRR Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation

- Congzhe Wang, Y. Fang, S. Guo, Y. Chen
- Engineering
- 1 November 2013

Kinematic characteristics analysis of 3 DOF in-parallel actuated pyramid mechanism☆

This paper presents the analysis of the kinematic characteristics of 3 degrees-of-freedom (DOF) parallel actuated pyramid mechanisms using reciprocal screw theory. The parallel actuated spherical… Expand

Constraint analysis and bifurcated motion of the 3PUP parallel mechanism

Abstract This paper investigates the geometry properties and certain restrictions of stroke induced by the special assemblage of a 3PUP parallel mechanism which consists of a fixed base, a platform… Expand

Structure synthesis of a class of 3-DOF rotational parallel manipulators

- Y. Fang, L. Tsai
- Computer Science, Mathematics
- IEEE Transactions on Robotics and Automation
- 19 February 2004

The theory of reciprocal screws is used for the enumeration of the feasible limb structures of a class of 3-degree-of-freedom (DOF) rotational parallel manipulators. Geometric conditions for the… Expand

Kinematics of a three-degree-of-freedom in-parallel actuated manipulator mechanism☆

This paper presents the first and second order kinematic analysis of a three-degrees-of-freedom 3-RPS parallel robot mechanism. The position and orientation parameters of the moving platform of this… Expand

ANALYTICAL IDENTIFICATION OF THE PRINCIPAL SCREWS OF THE THIRD ORDER SCREW SYSTEM

Screw theory, as a theoretical tool, plays an important role in the kinematic analysis of mechanisms and robot manipulators. The principal screws are the basic and important elements of the screw… Expand

Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators

In this paper, the instantaneous motions of a deficient-rank 3-DOF 3-RPS parallel-actuated manipulator are studied. Firstly, the Jacobian matrix of the mechanism is established by using the… Expand

Enumeration of a class of overconstrained mechanisms using the theory of reciprocal screws

Abstract In this paper, a new method for structure synthesis of a class of overconstrained mechanisms is presented. First, joint screw systems that are reciprocal to several prescribed… Expand

Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved Mechanism

This paper presents a metamorphic kinematic pair extracted from origami folds in the context of mechanisms, its evolved metamorphic chain, and the novel metamorphic parallel mechanism. This paper… Expand