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RISTopological Representations and Characteristics of Variable Kinematic Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: There exist some mechanisms with variable topologies that have interesting applications, for examples, legged walking machines, mechanical push-button stopper locks, and various toys. A variable ...
On the Mobility and Configuration Singularity of Mechanisms With Variable Topologies
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The mechanisms with variable topologies (MVTs) are usually changing their topological structures in accordance with the varying mobility and quasi-singular configurations. The mobility analysis and ...
Computational Identification of Link Adjacency and Joint Incidence in Kinematic Chains and Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The identification of link adjacency and joint incidence of kinematic chains and mechanisms is important and essential prior to the task of conceptual mechanism design. A careful observation ...
Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. ...