Positive Kinematics Analysis of 3-RRR Spherical Parallel Robot by lin Zhang, Xuxia Guo, Gemeng Shi, Lansheng Jia, li Wang

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Research on Spatial Location of a Spherical 3-RRR Parallel Mechanism by Wang Li

“…Based on the spherical 3-RRR parallel robot, an angular displacement sensor bracket is added to detect the attitude angle of the moving platform, and the positioning deviation is transformed into a quaternion form. …”
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Research of the Reachable Workspace of Symmetrical Planar 3-RRR Parallel Mechanism by Li Dahai, Song Shengtao, Li Ruiqin, Zhao Jianwen, Zhao Ruijie

“…By using the method of closed vector,the position positive solution model of the symmetrical planar 3- RRR parallel mechanism is built. Aiming at the typical example（ for the frame is the longest and all the rods connecting frame are cranks）,with the help of the numerical method to solve and the reachable workspace of 3- RRR parallel mechanism is mapped by using the Matlab,and compared with the result gained by motion simulation of virtual prototype software Solidworks.…”
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Research of the Workspace Boundary Solving and Flexibility of 3-RRR Planar Parallel Robot by Cao Liya, Cui Jiankun, Song Yanan

“…A series of boundary points for the workspace of the 3- RRR planar robot are determined by using the circular search algorithm depending on the existence of the inverse solution of the system. …”
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Motion Interference Inspection and Workspace Research of 3-RRR Spherical Parallel Robot by Li Wang, Rong Wang

“…The 3-RRR spherical parallel robot is applied as the actuator for spatial positioning and tracking，the Euler angle is described the pose of the robot end moving platform. …”
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Differential Motion Analysis of the Planar 3-RRR Fully Compliant Parallel Mechanism by Li Yaqiong, An Ziming, Zhu Dachang, Zhou Lei

Subjects: “…Planar 3-RRR type fully compliant parallel mechanism…”
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Research of Full-posture Workspace and Its Characteristic of 3-RRR Planar Parallel Robot by Cui Jiankun, Yu Jiajun, Cao Liya

“…A new representation method of the workspace of a planar parallel manipulator is presented.Taking the 3 RRR plane parallel robot as an example,according to the iterative search method,the inverse solution equation is used as the discriminant,and the circular search of workspace is carried out. …”
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Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism by Shuaixu Ji, Yongguo Liang, Huimin Hao, Li'na Li, Jiahai Huang

“…Aiming at the wrist movement dysfunction and rehabilitation training problems of stroke patients，a wrist rehabilitation device based on a coaxial spherical parallel 3RRR mechanism is proposed. The device is driven by three motors，and the end effector can realize spherical motion to simulate the three-degree-of-freedom compound motion of the wrist and realize wrist rehabilitation training. …”
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Modeling of the Flexibility Matrix of 3-RRR Parallel Micromanipulator based on Coordinate Transformation Method by Yang Chunhui, Liu Ping’an

“…The modeling of the flexibility matrix of the fully compliant mechanism is the basis for its analysis. Taking the 3-RRR fully compliant parallel mechanism as an example,and the establishing processing of the flexibility matrix model of compliant mechanism is derived based on the coordinate transformation method.The finite element analysis of the fully compliant mechanism is carried out,the correctness of the flexibility matrix is verified. …”
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IBOA-Based Optimization of Cross-Sectional Dimension of Rods for a 3-RRR PPM to Minimize Energy Consumption by Yin Gao, Ke Chen, Hong Gao, Hongmei Zheng, Lei Wang, Kerong Jiang

“…For obtaining optimal cross-sectional dimensions of rods for a 3-RRR planar parallel manipulator (PPM) to minimize energy consumption, the inverse dynamics of the manipulator is modeled based on the Newton–Euler method, after which the coefficient matrix of the inverse dynamics equation is decomposed based on matrix theory. …”
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Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions by Lianchao Sheng, Wei Li, Yuqiao Wang, Mengbao Fan, Xuefeng Yang

“…Due to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM), it is often difficult to achieve active vibration control algorithm based on the system dynamic model. …”
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Study on the Workspace and Structural Parameter Optimum of Parallel Mechanism based on Waterwave Method by Xia Yongqiang, Luo Yufeng, Shi Zhixin, Yang Long, Zou Jinlong, Li Shaoshuai

“…A waterwave method based on chaotic mapping algorithm for the fast search algorithm of planar parallel mechanism workspace is put forward in the study. Taking the 3-RRR parallel mechanism as a example,the reachable workspace,certain posture workspace and dexterous workspace are analyzed. …”
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Solving of the Workspace Boundary of Planar Parallel Mechanism based Modified PSO Algorithm by Ji Fangfang Zhao Xin

“…The workspace boundary of the parallel manipulator can be constructed by finding these points by using MPSO, the MPSO method is used to obtain the mapping of workspace boundary of 3RRR planar parallel mechanism in order to verify the effectiveness of this method. …”
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ROBUST OPTIMAL DESIGN OF MULTIPLE RESPONSE OF FLEXIBLE HINGE BASED ON THE TAGUCHI AND SATISFACTION FUNCTION METHOD by WU JianJun, HUANG YuLin, XIE ZhouWei, LIANG LunHai, LIANG Kai

“…It is difficult to optimize flexibility robustness because the robust optimization of multiple response for cell injection 3 RRR compliant parallel micro motion platform flexible parts are existed"under"deformation or"over"deformation. a new method is proposed to solve the robust optimization of multiple response which combine the Taguchi method and satisfaction function. …”
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Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism by Tian Peiliang, Liu Zhifei, Wang Weibo, Ma Xiaobao, Lan Yuan

“…Compared with the classic 3-RRR wrist joint rehabilitation mechanism, the developed prototype has no advantages such as multi-solution and singular value. …”
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Design and Dynamic Analysis of a Novel Biomimetic Robotics Hip Joint by Bingyan Cui, Liwen Chen, Zhijun Wang, Yuanhao Zhao, Zhanxian Li, Zhenlin Jin

“…The biomimetic robotics hip joint is mainly composed of a moving platform, frame, and 3-RRR orthogonal spherical parallel mechanism branched chains, and has the characteristics of compact structure, large bearing capacity, high positioning accuracy, and good controllability. …”
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Design and Analysis of a Hybrid Exoskeleton for Upper Limb Rehabilitation by Wang Zheng, Liu Fanghua, Shao Jiawei, Wu Wanyi, Di Cheng

“…A new 2-degree-of-freedom elbow rehabilitation device is designed to replace the traditional single-degree-of-freedom elbow exoskeleton in order to better achieve elbow training for patients with upper limb movement disorders. A 3RRR/S mechanism with coaxial spherical surface is designed for hand rehabilitation, which can make the rehabilitation training of hand more enveloping. …”
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Artificial Bee Colony and Newton Algorithm for Forward Position Solution of Parallel Mechanism by Ping Li, Siyang Peng, Linxian Che, Li Du, Junkun Hong

“…In order to verify the effectiveness and universality of the algorithm， two numerical examples of forward kinematics such as 4-SPS-CU and 3-RRR coupled parallel mechanisms are given. The results show that the HABC-Newton algorithm can obtain all the high accurate solutions of the parallel mechanism with less computational cost. …”
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