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Parallelogram linkages are used to increase the stiffness of manipulators and allow precise control of end-effectors. They help maintain the orientation of connected links when the manipulator changes its position. They are implemented in many palletizing robots connected with binary, ternary and quaternary links through both active and passive joints. This limits the motion of some joints and hence results in relative and negative joint angles when assigning coordinate axes. This study aims to provide a simplified accurate model for manipulators built with parllelogram linkages to ease the kinematics calculations.

This study introduces a simplified model, replacing each parallelogram linkage with a single (binary) link with an active and a passive joint at the ends. This replacement facilitates countering motion while preserving subsequent link orientations. Validation of kinematics is performed on palletizing manipulators from five different OEMs. The validation of Dobot Magician and ABB IRB1410 was carried out in real time and in their control software. Other robots from ABB, Yaskawa, Kuka and Fanuc were validated using control environments and simulators.

The proposed model enables the straightforward derivation of forward kinematics and transforms hybrid robots into equivalent serial-link robots. The model demonstrates high accuracy streamlining the derivation of kinematics.

The proposed model facilitates the use of classical methods like the Denavit–Hartenberg procedure with ease. It not only simplifies kinematics derivation but it also helps in robot control and motion planning within the workspace. The approach can also be implemented to simplify the parallelogram linkages of robots with higher degrees of freedom such as the IRB1410.

This theoretical paper introduces a conceptual framework for Personal Cultural Heritage Management (PCHM), derived from prior research on migrants' information practices. It elaborates on the literature background and the development of the PCHM framework, highlighting the role of personal information management (PIM) and personal collections in the creation, access and utilization of cultural heritage information.

The study describes and explains the construction of the PCHM framework as a structured and self-motivated approach to personal heritage and identity learning.

Following the theoretical background and assumptions, along with the presentation of the key building blocks, the paper describes the key components of the framework, outlines their definitions and provides examples.

Theoretically, PCHM extends the current literature by encapsulating processes and actions employed by individuals to manage personal collections for cultural identity purposes, thereby underscoring the critical role personal collections play in both preserving and communicating cultural heritage.

PCHM can guide the development of support systems and policies to enhance cultural continuity and integration, thus empowering individuals to navigate their cultural identities confidently.

The PCHM framework creates a unique intersection between PIM and cultural heritage, providing a new perspective for understanding the dynamic evolution and formation of cultural identity among migrants.