Xingchao Zhang, Hongbo Wang, Yu Rong, Jianye Niu, Junjie Tian, and Yuansheng Ning


  1. [1] B.C. Wei, Y. Yue, X.C. Zhao, Y.B. Yi, and C.K. Qi, Designand experiment of a novel 4-dof vibration isolating system,International Journal of Robotics and Automation, 37(2), 2022,182–191.
  2. [2] D. Zhang, Q. Zou, S. Guo, and H.B. Qu, Kinematicsand performances analysis of a novel hybrid welding robot,International Journal of Robotics and Automation, 35(4), 2020,261–268.458
  3. [3] Q. Zou, D. Zhang, X.L. Luo, and G.Y. Huang, Structuraldesign and kinematic analysis of a group of translationalparallel mechanisms, International Journal of Robotics andAutomation, 37(4), 2022, 382–390.
  4. [4] Y.D. Xu, J.Y. Yao, and Y.S. Zhao, Internal forces analysis ofthe active over-constrained parallel manipulators, InternationalJournal of Robotics and Automation, 30(5), 2015, 511–518.
  5. [5] C. Yang, Q.C. Li, and Q.H. Chen, Multi-objective optimizationof parallel manipulators using a game algorithm, AppliedMathematical Modelling, 74, 2019, 217–243.
  6. [6] Y.D. Xu, L. Lu, W.L. Liu, J.W. Guo, J.T. Yao, and Y.S.Zhao, Principle of force analysis of overconstrained parallelmechanisms considering link weight, Robotica, 37(9), 2019,1533–1544.
  7. [7] L.M. Xu, G.L. Chen, W. Ye, and Q.C. Li, Design, analysis andoptimization of Hex4, a new 2R1T overconstrained parallelmanipulator with actuation redundancy, Robotica, 37(2), 2019,358–377.
  8. [8] C. Zhao, Z.M. Chen, Y.W. Li, and Z. Huang, Motioncharacteristics analysis of a novel 2R1T 3-UPU parallelmechanism, Journal of Mechanical Design, 142(1), 2020, 12302.
  9. [9] Y.D. Xu, Y. Zhao, Y. Yue, F.F. Xi, J.T. Yao, and Y.S. Zhao,Type synthesis of overconstrained 2R1T parallel mechanismswith the fewest kinematic joints based on the ultimateconstraint wrenches, Mechanism and Machine Theory, 147,2019, 103766.
  10. [10] Z.M. Chen, M. Li, X.W. Kong, and C. Zhao, Kinematicsanalysis of a novel 2R1T 3-PUU parallel mechanism withmultiple rotation centers, Mechanism and Machine Theory,152, 2020, 103938.
  11. [11] C.Y. Rao, L.M. Xu, Q.H. Chen, and W. Ye, Dynamic modelingand performance evaluation of a 2UPR-PRU parallel kinematicmachine based on screw theory, Journal of Mechanical Scienceand Technology, 35(6), 2021, 2369–2381.
  12. [12] N.J. Ye and B. Hu, Stiffness modeling of some 4-DOF over-constrained parallel manipulators with various constrainedwrench forms, Mechanism and Machine Theory, 172, 2022,104821.
  13. [13] R.Q. Li, S.S. Wang, D.B. Fan, Y.T. Du, and S.P. Bai,Dynamic modeling of a 2-RPU+ 2-UPS hybrid manipulator formachining application, Modeling, Identification and Control,38(4), 2017, 169–184.
  14. [14] H.Y. An, B. Li, S.J. Wang, and W.M. Ge, Kinematics andtransmission performance analyses of a 2T2R Type 4-DOFspatial parallel manipulator, Journal of Robotics, 2018, 2018,4750627.
  15. [15] K. Ibrahim, A. Ramadan, M. Fanni, Y. Kobayashi, A. Abo-Ismail, and M. G. Fujie, Development of a new 4-DOFendoscopic parallel manipulator based on screw theory forlaparoscopic surgery, Mechatronics, 28, 2015, 4–17.
  16. [16] D.M. Gan, J.S. Dai, J. Dias, R.H. Umer, and L. Seneviratne,Singularity-free workspace aimed optimal design of a 2T2Rparallel mechanism for automated fiber placement, Journal ofMechanisms and Robotics, 7(4), 2015, 41022.
  17. [17] H.-R. Fang, P.-F. Liu, H. Yang, and B.-S. Jiang, Designand analysis of a novel 2T2R parallel mechanism with theclosed-loop limbs, International Journal of Automation andComputing, 18(4), 2021, 654–666.
  18. [18] B. Zhu, L.P. Wang, J. Wu, and Q. Li, Optimization design andperformance comparison of two 5-DOF parallel manipulatorsused for loading device, International Journal of Robotics andAutomation, 37(4), 2022, 310–320.
  19. [19] L.M. Xu, Analysis and synthesis of 2R1T parallel mechanismsbased on the geometric algebra, Doctoral Dissertation, ZhejiangSci-Tech University, Hangzhou, China, 2021.
  20. [20] Y.D. Xu, Y. Zhao, and D.S. Zhang, Five-degrees-of-freedomhybrid manipulator based on a class of four-branch parallelmechanisms with two rotational and one translationaldegrees of freedom containing extremely few kinematicjoints, Acta Aeronautica et Astronautica Sinica, 40(6), 2019,422677.
  21. [21] H.Y. Tang, D. Zhang, S. Guo, H.B. Qu, and G.Y. Huang,Kinematics analysis of a novel 2R1T parallel mechanism,International Journal of Robotics and Automation, 33(2), 2018,127–140.
  22. [22] A. Klimchik, D. Chablat, and A. Pashkevich, Stiffness modelingfor perfect and non-perfect parallel manipulators under internaland external loadings, Mechanism and Machine Theory, 79,2014, 1–28.
  23. [23] C. Dumas, S. Caro, S. Garnier, and B. Furet, Joint stiffnessidentification of six-revolute industrial serial robots, Roboticsand Computer-Integrated Manufacturing, 27(4), 2011, 881–888.
  24. [24] A.G.L. Hoevenaars, P. Lambert, and J.L. Herder, Jacobian-based stiffness analysis method for parallel manipulators withnon-redundant legs, Proceedings of the Institution of MechanicalEngineers, Part C: Journal of Mechanical Engineering Science,230(3), 2016, 341–352.
  25. [25] A. Raoofian, A. Taghvaeipour, and A. Kamali, On the stiffnessanalysis of robotic manipulators and calculation of stiffnessindices, Mechanism and Machine Theory, 130, 2018, 382–402.
  26. [26] H. Azulay, M. Mahmoodi, R. Zhao, J.K. Mills, and B. Benhabib,Comparative analysis of a new 3PPRS parallel kinematicmechanism, Robotics and Computer-Integrated Manufacturing,30(4), 2014, 369–378.
  27. [27] T. Wang, Y.-H. Lin, E. Spyrakos-Papastavridis, S.Q. Xie, andJ.S. Dai, Stiffness evaluation of a novel ankle rehabilitationexoskeleton with a type-variable constraint, Mechanism andMachine Theory, 179, 2023, 105071.
  28. [28] C.M. Gosselin, Stiffness mapping for parallel manipulators,IEEE Transactions on Robotics and Automation, 6(3), 1990,377–382.
  29. [29] W. Yue, H.T. Liu, and T. Huang, An approach for predictingstiffness of a 5-DOF hybrid robot for friction stir welding,Mechanism and Machine Theory, 175, 2022, 104941.
  30. [30] C. Zhao, H.W. Guo, D. Zhang, R.Q. Liu, B. Li, and Z.Q.Deng, Stiffness modeling of n(3RRlS) reconfigurable series-parallel manipulators by combining virtual joint method andmatrix structural analysis, Mechanism and Machine Theory,152, 2020, 103960.
  31. [31] M.W. Hu, H.G. Wang, X.N. Pan, L.C. Liao, and H.W. Sun,Elastic deformation modeling of series robots with considerationof gravity, Intelligent Service Robotics, 15, 2022, 351–362.
  32. [32] H.P. Shen, Y. Tang, G.L. Wu, J. Li, T. Li, and T.L. Yang,Design and analysis of a class of two-limb non-parasitic2T1R parallel mechanism with decoupled motion and symbolicforward position solution–influence of optimal arrangement oflimbs onto the kinematics, dynamics and stiffness, Mechanismand Machine Theory, 172, 2022, 104815.
  33. [33] J.P. Merlet, Jacobian, manipulability, condition number, andaccuracy of parallel robots, Journal of Mechanical Design,128(1), 2006, 199–206.
  34. [34] B. Hu and Z. Huang, Kinetostatic model of overconstrainedlower mobility parallel manipulators, Nonlinear Dynamics,86(1), 2016, 309–322.
  35. [35] Y. Lu, J.J. Yu, L.W. Chen, B. Hu, X.L. Zhang, J.D. Han, andC.P. Sui, Stiffness and elastic deformation of a 3-leg 5-DOFparallel manipulator with one composite leg, InternationalJournal of Robotics and Automation, 37(4), 2014, 23–31.
  36. [36] H.-B. Tian, H.-W. Ma, J. Xia, K. Ma, and Z.-Z. Li, Stiffnessanalysis of a metamorphic parallel mechanism with three config-urations, Mechanism and Machine Theory, 142, 2019, 103595.
  37. [37] B. Hu, S. Zhuang, Y. Lu, C.P. Sui, J.D. Han, and J.J. Yu,Kinematics, statics and stiffness analysis of n(4-SPS+SP) S-PM, International Journal of Robotics and Automation, 27(3),2022, 287.
  38. [38] N.J. Ye and B. Hu, Kinematic and stiffness modeling of a novel3-DOF RPU+UPU+SPU parallel manipulator, IEEE Access,10, 2021, 6304–6318.
  39. [39] L.P. Wang, J.J. Tian, J.Z. Du, S.Y. Zheng, J.J. Niu, Z.Y. Zhang,and J. Wu, A hybrid mechanism-based robot for end-tractionlower limb rehabilitation: Design, analysis and experimentalevaluation, Machines, 10(2), 2022, 99.
  40. [40] J.K. Song, C. Zhao, K. Zhao, W.J. Yan, and Z.M. Chen,Singularity analysis and dimensional synthesis of a 2R1T 3-UPU parallel mechanism based on performance atlas, Journalof Mechanisms and Robotics, 15(1), 2022, 11001.
  41. [41] S.J. Yan, S.K. Ong, and A.Y.C. Nee, Stiffness analysis ofparallelogram-type parallel manipulators using a strain energymethod, Robotics and Computer-Integrated Manufacturing, 37,2016, 13–22.459

Important Links:

Go Back