Search
CSV
RISMappings of Spatial Kinematics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies mappings of spatial kinematics and the geometry for which a spatial displacement is an element. Study’s soma is reviewed and it is shown that Euclidean geometry in three-space ...
Motion Synthesis Using Kinematic Mappings
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies planar motion approximation problems in the context of a kinematic mapping. Since a planar displacement is determined by three parameters, it can be mapped into a point of ...
Offset Surface Generation and Contouring in Computer-Aided Design
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Two computational techniques are presented for Computer-Aided Design (CAD) and Machining (CAM) of parametrically defined surfaces. One technique deals with construction of offset surfaces. An ...
Model Based Rigid Body Guidance in Presence of Nonconvex Geometric Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an efficient algorithm for guidance of a convex rigid body in-between nonconvex polygonal objects in a Computer-Aided Design (CAD) environment. A shrinking procedure is used ...
A Separating Channel Decomposition Algorithm for Nonconvex Polygons With Application in Interference Detection
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: An algorithm for efficient decomposition of interface channels between nonconvex polygons in a Computer-Aided Design (CAD) environment is presented. This algorithm forms the computational basis for ...
Use of Convex Hulls for Plant Template Approximation in QFT Design
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A method is presented for the rapid approximation of plant templates for the Quantitative Feedback Theory (QFT) control design methodology. The approach is based on the convex hull of the ...
Computer Aided Geometric Design of Line Constructs
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper develops a mathematical foundation for Computer Aided Design (CAD) of sculptured shapes based on line geometry. First, a new representation is presented for a line based on Plücker ...
Design of Tactile Fixtures for Robotics and Manufacturing
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a theoretical framework for the design of tactile sensing fixtures for robotics and manufacturing. The framework presented uses group theory to analyze the symmetry of contact ...
Dynamic Load Carrying Capacity of Mechanical Manipulators—Part II: Computational Procedure and Applications
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A computational procedure is presented for obtaining numerical solutions to the trajectory optimization problem associated with synthesizing robot dynamic trajectories with maximum load carrying ...
Dynamic Load Carrying Capacity of Mechanical Manipulators—Part I: Problem Formulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Two types of problems associated with load carrying capacity of robot manipulators are studied. The first type of problem involves determining the maximum load carrying capacity of a robot ...