Kinematic modelling is essential for evaluating hybrid manipulators that require both stiffness and spatial adaptability. This paper proposes a modular 3-UPU (universal joint–prismatic joint–universal joint) hybrid serial–parallel manipulator for confined-space tool operations, with offshore jacket tubular-joint maintenance used as a representative application background. The mechanism connects several 3-UPU parallel units in series; each unit provides two rotational degrees of freedom and one translational degree of freedom for local steering and axial adjustment. Screw theory and the modified Grübler–Kutzbach formula are used to analyze module mobility, and a geometric kinematic model is established to map module pose to actuator displacement. Actuator commands are generated for cylindrical and planar surface-following trajectories and verified using a CAD-based Simscape Multibody virtual prototype. The maximum model-to-model relative position discrepancies are 1.07% and 1.45%, showing consistency between the analytical actuation model and the rigid-body virtual prototype under the considered conditions.
Space-constrained articulated mechanisms integrated into mechatronic assemblies require rigorous kinematic characterisation during preliminary design, since spatial limitations and the avoidance of kinematic locking in the transient regime constrain the admissible geometry. An original planar guidance-and-retraction li...
V. Ciubotariu, V. Zichil, A. Pascu et al.· Applied Sciences· 0 citations
Selective Compliance Assembly Robot Arm (SCARA) manipulators are extensively employed in automated manufacturing due to their ability to deliver high-speed, precise, and repeatable motion in assembly tasks. This study presents kinematic modeling and validation of a four-degree-of-freedom SCARA with an RRPR (Revolute-Re...
Abdelilah El Merini, Chaimae Ouchicha, O. Hamdoun· WSEAS Transactions on Applie...· 0 citations
The design and kinematic validation of a novel 3-DOF spherical parallel exoskeleton featuring base-fixed actuators featuring base-fixed actuators featuring exponential rotational matrices is presented, providing systematic derivations of equations in compact form.
To enhance the compliance and environmental adaptability of rehabilitation robots in complex human-robot interaction scenarios, a hybrid passive-active variable stiffness mechanism incorporating linear springs was designed. Based on this mechanism, a flexible cable-driven upper limb rehabilitation system was developed,...
Xiang-Xu Qu, Xiao-Jie Lv, Guan-Li Fang et al.· Journal of Physics, Conferen...· 0 citations
This paper presents the design, mathematical modeling, control, and virtual validation of a fifteen-degree-of-freedom anthropomorphic robotic hand within a Digital Twin-oriented framework. The mechanical structure was designed in SolidWorks and integrated into MATLAB/Simscape Multibody to create a high-fidelity virtual...
C. Hernández-Santos, Amadeo Hernández, Arnoldo Fernández-Ramírez et al.· International Journal of Com...· 0 citations
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