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RISAdaptive Robotic Mechanical Systems: A Design Paradigm
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper aims at developing a general framework for the use of the concept of adaptive mechanical system in the design of advanced robotic devices. The concept of adaptive mechanical system ...
Kinetostatic Analysis and Design Optimization of the Tricept Machine Tool Family
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Selecting a mechanism for a machine tool that will best suit the needs of a forecast set of rigidities can be a difficult and costly exercise. This problem can now be addressed using a ...
Dynamic Optimization of Reactionless Four-Bar Linkages
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Reactionless mechanisms have many important applications because of their zero reaction forces and moments at the base. However, in most cases, these mechanisms consume more energy than their ...
A Formula That Produces a Unique Solution to the Forward Displacement Analysis of a Quadratic Spherical Parallel Manipulator: The Agile Eye
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A quadratic parallel manipulator refers to a parallel manipulator with a quadratic characteristic polynomial. This paper revisits the forward displacement analysis (FDA) of a quadratic spherical ...
Synthesis, Design, and Prototyping of a Planar Three Degree-of-Freedom Reactionless Parallel Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper addresses the dynamic balancing of a planar three-degree-of-freedom parallel mechanism. A mechanism is said to be dynamically balanced if, for any motion of the mechanism, the reaction ...
Effects of Orientation Angles on the Singularity-Free Workspace and Orientation Optimization of the Gough–Stewart Platform
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The singularity-free workspace of parallel mechanisms is highly desirable in a context of robot design. This work focuses on analyzing the effects of the orientation angles on the singularity-free ...
Geometric Optimization of the MSSM Gough–Stewart Platform
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work focuses on analyzing the effects of the geometric parameters on the singularity-free workspace in order to determine the optimal architecture for the minimal simplified symmetric ...
Type Synthesis of 3-DOF PPR-Equivalent Parallel Manipulators Based on Screw Theory and the Concept of Virtual Chain
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: PPR-equivalent parallel manipulators (PMs) are a class of 3-DOF PMs with great application potential. They are indeed the parallel counterparts of the 3-DOF PPR serial robots, in which the ...
Kinematic, Static, and Dynamic Analysis of a Planar One-Degree-of-Freedom Tensegrity Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The use of tensegrity systems as structures has been extensively studied. However, their development for use as mechanisms is quite recent even though they present such advantages as reduced ...
Maximal Singularity-Free Total Orientation Workspace of the Gough–Stewart Platform
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The maximal singularity-free total orientation workspace is highly desirable in a context of design of parallel robots. In practice, this type of workspace is interesting because a parallel robot ...