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RISOptimal Design of a 2 UPR RPU Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper investigates dimensional optimization of a 2UPRRPU parallel manipulator (where U is a universal joint, P a prismatic pair, and R a revolute pair). First, the kinematics and screws of the mechanism are analyzed. ...
Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Parallel manipulators (PMs) with redundant actuation are attracting increasing research interest because they have demonstrated improved stiffness and fewer singularities. This paper proposes a new redundantly actuated ...
Analytical Elastostatic Stiffness Modeling of Overconstrained Parallel Manipulators Using Geometric Algebra and Strain Energy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A general method for the analytical elastostatic stiffness modeling of overconstrained parallel manipulators (PMs) using geometric algebra and strain energy is proposed. First, an analytical solution of the constraint and ...
Analytical Elastostatic Stiffness Modeling of Overconstrained Parallel Manipulators Using Geometric Algebra and Strain Energy
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: A general method for the analytical elastostatic stiffness modeling of overconstrained parallel manipulators (PMs) using geometric algebra and strain energy is proposed. First, an analytical solution of the constraint and ...