This paper presents an analysis of the different kinds of singularities encountered in closed-loop
kinematic chains. A general classification of these singularities in three main groups, …

… 7(c) that the stiffness in z is higher near the center of the workspace which is the best position
for supporting vertical loads (an object on the platform, for instance). It can also be noticed …

This paper presents the development of selfadaptive and reconfigurable hands which are
versatile and easy to control. These hands have three fingers and each of the fingers has three …

In this paper, a novel performance index for the kinematic optimization of robotic manipulators
is presented. The index is based on the condition number of the Jacobian matrix of the …

… This paper is in the spirit of a previous one devoted to parallel planar manipulators (Gosselin
and Angeles, 1988). Following the approach of the previous paper, three design criteria are …

… Barrette and C. Gosselin, “Determination of the dynamic workspace of cable-driven planar
parallel mechanisms,” ASME Journal of Mechanical Design, vol. 127, pp. 242–248, 2005. …

… In order to reduce the number of parameters to six, we will express the velocity of points A,
B and C in the local coordinate frame ~/" defined in the preceeding section. The six inde…

Background Treatment‐resistant depression (TRD) is a debilitating chronic mental illness
that confers increased morbidity and mortality, decreases the quality of life, impairs …

This paper presents a review of the literature related to the use of redundancy in parallel
mechanisms. Two types of redundancies are considered, namely, actuation redundancy and …

… The compressive strength σ c ⁎ can be estimated from the value of flexural strength and
w/(c + s) mass ratio of the mortar. In this work, the ratio is very low (w/(c + s) = 0.1), given the …