{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T11:23:15Z","timestamp":1768735395877,"version":"3.49.0"},"reference-count":43,"publisher":"ASME International","issue":"4","content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2015,11,1]]},"abstract":"<jats:p>This paper introduces a new concept of applying a parallel mechanism in automated fiber placement (AFP) for aerospace part manufacturing. By investigating the system requirements, a 4DOF parallel mechanism consisting of two revolute\u2013prismatic\u2013spherical joints (2RPS) and two universal\u2013prismatic\u2013spherical joints (2UPS) limbs with two rotational (2R) and two translational (2T) motions is proposed. Both inverse and forward kinematics models are obtained and solved analytically. Based on the overall Jacobian matrix in screw theory, singularity loci are presented and the singularity-free workspace is correspondingly illustrated. To maximize the singularity-free workspace, locations of the 2UPS limbs with the platform and base sizes are used in the optimization which gives a new design of a 4DOF parallel mechanism. A dimensionless Jacobian matrix is also defined and its condition number is used for optimizing the kinematics performance in the optimization process. A numerical example is presented with physical constraint considerations of a test bed design for AFP.<\/jats:p>","DOI":"10.1115\/1.4029957","type":"journal-article","created":{"date-parts":[[2015,3,5]],"date-time":"2015-03-05T14:30:37Z","timestamp":1425565837000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":36,"title":["Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement"],"prefix":"10.1115","volume":"7","author":[{"given":"Dongming","family":"Gan","sequence":"first","affiliation":[{"name":"Robotics Institute, Khalifa University of Science, Technology and Research, Abu Dhabi 127788, UAE e-mail:"}]},{"given":"Jian S.","family":"Dai","sequence":"additional","affiliation":[{"name":"School of Natural and Mathematical Sciences, King\u2019s College London, University of London, London WC2R 2LS, UK"}]},{"given":"Jorge","family":"Dias","sequence":"additional","affiliation":[{"name":"Robotics Institute, Khalifa University of Science, Technology and Research, Abu Dhabi 127788, UAE"},{"name":"Faculty of Science and Technology, Institute of Systems and Robotics, University of Coimbra, Coimbra 3030-790, Portugal"}]},{"given":"Rehan","family":"Umer","sequence":"additional","affiliation":[{"name":"Aerospace Research and Innovation Center, Khalifa University of Science, Technology and Research, Abu Dhabi 127788, UAE"}]},{"given":"Lakmal","family":"Seneviratne","sequence":"additional","affiliation":[{"name":"Robotics Institute, Khalifa University of Science, Technology and Research, Abu Dhabi 127788, UAE"},{"name":"School of Natural and Mathematical Sciences, King\u2019s College London, University of London, London WC2R 2LS, UK"}]}],"member":"33","reference":[{"issue":"3","key":"2019100617450448200_B1","doi-asserted-by":"crossref","first-page":"997","DOI":"10.1016\/j.compositesb.2011.12.003","article-title":"The Engineering Aspects of Automated Prepreg Layup: History, Present and Future","volume":"43","year":"2012","journal-title":"Composites, Part B"},{"issue":"1","key":"2019100617450448200_B2","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1016\/S0736-5845(03)00050-4","article-title":"Fabrication Process of Open Surfaces by Robotic Fibre Placement","volume":"20","year":"2004","journal-title":"Rob. 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