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RISDynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The authors propose a systematic formulation of the dynamics of the 6-P-RR-R-RR parallel-kinematics machine (PKM) with offset RR -joints. The kinematics of the same system is reported in an accompanying paper. Based on the ...
A Reparametrization of the Rotation Matrix in Rigid Body Dynamics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The parametrization of a rigidbody rotation is a classical subject in rigidbody dynamics. Euler angles, the rotation matrix and quaternions are the most common representations. However, Euler angles are known to be prone ...
The Synthesis of Spherical Motion Generators in the Presence of an Incomplete Set of Attitudes
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Proposed in this paper is a general methodology applicable to the synthesis of spherical motion generators in the presence of an incomplete set of finitely separated attitudes. The spherical rigidbody guidance problem in ...
The Spherical Equivalent of Bresse's Circles: The Case of Crossed Double-Crank Linkages
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The subject of Bresse's circles is classical in the kinematics of planar mechanisms. These are the loci of the coupler points that exhibit either zero normal or zero tangential acceleration. Described in this paper is the ...
A Novel Three-Loop Parallel Robot With Full Mobility: Kinematics, Singularity, Workspace, and Dexterity Analysis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A novel parallel robot, dubbed the SDelta, is the subject of this paper. SDelta is a simpler alternative to both the well-known Stewart–Gough platform (SGP) and current three-limb, full-mobility parallel robots, as it ...
Isotropic Accelerometer Strapdowns and Related Algorithms for Rigid Body Pose and Twist Estimation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A novel design of accelerometer strapdown, intended for the estimation of the rigidbody acceleration and velocity fields, is proposed here. The authors introduce the concept of isotropicpolyhedral layout of simplicial ...
Synthesis of RCCC Linkages to Visit Four Given Poses
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper focuses on the problem of synthesis of spatial fourbar linkages of the RCCC type for rigidbody guidance with four given poses, R denoting a revolute, C a cylindrical kinematic pair. While synthesis equations for ...
Full-Mobility Three-CCC Parallel-Kinematics Machines: Kinematics and Isotropic Design
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The subject of this paper is twofold: the kinematics and the isotropic design of six degrees-of-freedom (DOF), three-CCC parallel-kinematics machines (PKMs). Upon proper embodiment and dimensioning, the PKMs discussed here, ...
An Algorithm for Rigid-Body Angular Velocity and Attitude Estimation Based on Isotropic Accelerometer Strapdowns
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A novel algorithm for the estimation of rigid-body angular velocity and attitude—the most challenging part of pose-and-twist estimation—based on isotropic accelerometer strapdowns, is proposed in this paper. Quaternions, ...
Reflections Over the Dual Ring—Applications to Kinematic Synthesis
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: Least-square problems arise in multiple application areas. The numerical algorithm intended to compute offline the minimum (Euclidian)-norm approximation to an overdetermined system of linear equations, the core of least ...