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RISAn Elimination Procedure for Solving the Geometric Design of Spatial 3R Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints when three precision points are specified is solved using an algebraic elimination ...
A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and Its Application to an Experimental Climbing Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the ...
Optimal Sensor Location in Motion Control of Flexibly Supported Long Reach Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Long reach manipulator systems (LRMS) can perform tasks in difficult to reach locations. They use a small and fast manipulator mounted on a large flexible structure that can vibrate, degrading ...
Analysis and Design of Protein Based Nanodevices: Challenges and Opportunities in Mechanical Design
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Nanomachines are devices that are in the size range of billionths of meters (10−9m) and therefore are built necessarily from individual atoms. These devices will have intrinsic mobilities that ...
Solving the Geometric Design Problem of Spatial 3R Robot Manipulators Using Polynomial Homotopy Continuation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints is solved using a polynomial homotopy continuation method. Three spatial positions and ...
A New Polynomial Solution to the Geometric Design Problem of Spatial R-R Robot Manipulators Using the Denavit and Hartenberg Parameters
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a new method to solve the geometric design problem of spatial two degrees of freedom, open loop robot manipulators with revolute joints that perform tasks, which require ...
Five Precision Point Synthesis of Spatial RRR Manipulators Using Interval Analysis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints is solved for the first time using an interval analysis method. In this problem, ...
Workspace Optimization of 3-Legged UPU and UPS Parallel Platforms With Joint Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper the workspace optimization of 3-legged translational UPU and orientational UPS parallel platforms under joint constraints is performed. The workspace of both platforms is parametrized ...
Experimental Nonlinear Dynamics of a Shape Memory Alloy Wire Bundle Actuator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the nonlinear dynamics of a new Shape Memory Alloy (SMA) actuator that possesses impressive payload lifting capabilities are presented. This actuator consists of 48 SMA wires ...
Analytical and Experimental Study of Determining the Optimal Number of Wedge Shape Cutting Teeth in Coring Bits Used in Percussive Drilling
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper we study the design of the coring bits with wedge-shape cutting teeth of vibratory drills that percussively penetrate into brittle material. The overall coring bit specific energy ...