In this work, the concept and mechanical design of a novel compact, lightweight,
omnidirectional three-legged robot, featuring a hybrid serial–parallel topology including leg …

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 …

Bilateral teleoperation has witnessed significant development since the mid-20th century,
addressing challenges related to human presence in environments with constraints or a lack …

In this paper an approach to improve the calculation of the forward kinematic model (FKM) of
a spherical parallel manipulator (SPM) is presented and tested experimentally. This …

This paper discusses the study of a spherical parallel manipulator (SPM) used as a haptic
device for tele-operation applications. The SPM presents poor behavior in singular …

Autonomous underwater vehicles (AUVs), which serve as main tool platforms, have played
an important role in underwater surveys in scientific, military, and commercial applications …

Analysis of entropy generation in mixed convection flow over a vertically stretching sheet
has been carried out in the presence of variable thermal conductivity and energy dissipation …

This paper presents a linkage system designed to guide a natural ankle trajectory with the
corresponding foot orientation. A six-bar linkage was designed to coordinate the joint angles …

This paper deals with the kinematic synthesis problem of a 3-RRR spherical parallel
manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic …

An optimal torque distribution approach for a redundant 3-RRR spherical parallel
manipulator (SPM) with haptic capabilities is presented. The redundancy increases the …