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RISSynthesis 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 ...
A New Approach to Design of a Lightweight Anthropomorphic Arm for Service Applications
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper describes a new approach to the design of a lightweight robotic arm for service applications. A major design objective is to achieve a lightweight robot with desired kinematic performance and compliance. This ...
Kinematic Analysis and Design of a Novel Shoulder Exoskeleton Using a Double Parallelogram Linkage
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The design of an innovative spherical mechanism with three degrees-of-freedom (DOFs) for a shoulder joint exoskeleton is presented in this paper. The spherical mechanism is designed with a double parallelogram linkage ...
Nonlinear Stiffness Analysis of Spring-Loaded Inverted Slider Crank Mechanisms With a Unified Model
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A mechanism with lumped-compliance can be constructed by mounting springs at joints of an inverted slider crank mechanism. Different mounting schemes bring change in the stiffness performance. In this paper, a unified ...
Exact Solutions of the Mixed Motion and Path Synthesis Problem for Four-Bar Linkages
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: An algebraic method is proposed in this work to find multiple exact solutions to the mixed motion and path synthesis problem. A system of synthesis equations is established based on Burmester theory, which is further ...
A Unified Formulation for Dimensional Synthesis of Stephenson Linkages
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The unified formulation of dimensional synthesis of Stephenson linkages for motion generation is the subject of this paper. Burmester theory is applied to the sixbar linkage, which leads to a unified formulation applicable ...
A Transmission Quality Index for a Class of Four-Limb Parallel Schönflies Motion Generators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a uniform method of evaluating both transmission quality and singularity applicable for a class of parallel Schönflies-motion generators (SMGs) with four RRΠRR limbs. It turns out that the determinant ...
Erratum: “Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions” [ASME J. Mech. Rob., 14(2), p. 021011; DOI: 10.1115/1.4052336]
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In the paper, Eq. (44) was provided improperly. The correct equation is given asM2j=[D4jD3jD2jD1jD0j00000F6jF5jF4jF3jF2jF1jF0j0000D4jD3jD2jD1jD0j00000F6jF5jF4jF3jF2jF1jF0j0000D4jD3jD2jD1jD0j00000F6jF5jF4jF3jF2jF1jF0j0000 ...
Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article addresses the path synthesis of RCCC (revolute-cylindrical-cylindrical-cylindrical) linkages, a problem that has not received due attention in the literature. Compared with planar and spherical four-bar linkages, ...
A Case Study on Designing a Passive Feeding-Assistive Orthosis for Arthrogryposis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Passive arm-assistive devices play an important role in the rehabilitation of patients with neuromuscular disorders or injuries by overcoming their motor deficit. Routine human activities such as feeding are not possible ...