In this paper the authors review spherical motion generation by means of parallel
manipulators or spherical motors. The state-of-the-art of spherical-motion-generator …

Main issues in visual servoing of manipulators mainly include rapid convergence of feature
errors to zero and the safety of joints regarding joint physical limits. To address the two …

This paper focuses on the kinematic design issues for a three degrees-of-freedom (DOFs),
ie, two-rotational and one-translational (2R1T) end-effector to perform continuous contact …

Aimed at addressing issues concerning the need for performing heavy calculations and
difficulties encountered while determining cable tension in cable-driven parallel robots …

RRR spherical parallel mechanisms (SPMs) have been extensively studied due to their
numerous applications. Substantial effort has been devoted to their forward kinematics (FK) …

In neurosurgery, magnetic resonance (MR) imaging is extensively utilized for preoperative
diagnosis and postoperative evaluation due to its superior soft tissue contrast. However, the …

This paper presents a novel framework for the analysis of a 3-RRR spherical parallel
manipulator with coaxial input axes (coaxial SPM) with the focus on its infinite rotational …

In this article, by taking a 3-DOF parallel tool head as an object of study, a dynamics
calibration method is investigated to improve the calculation accuracy of driving forces and …

This paper presents a new methodology for modeling and simulation of spherical parallel
manipulators (SPM) in CoppeliaSim (V-REP) robot simulator software. Using a SPM with …

In this article, we present a bilateral wrist robotic system for rehabilitation training that
extracts subject-adaptive reference movements from the unaffected limb using a passive …