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RISOptimal Robot Design and Differential Geometry
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this article we survey some recent developments in optimal robot design, and collect some of the differential geometric approaches into a general mathematical framework for robot design. The ...
Distance Metrics on the Rigid-Body Motions with Applications to Mechanism Design
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this article we examine the problem of designing a mechanism whose tool frame comes closest to reaching a set of desired goal frames. The basic mathematical question we address is ...
Bézier Curves on Riemannian Manifolds and Lie Groups with Kinematics Applications
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this article we generalize the concept of Bézier curves to curved spaces, and illustrate this generalization with an application in kinematics. We show how De Casteljau’s algorithm for ...
Geometric Algorithms for Kinematic Calibration of Robots Containing Closed Loops
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We present a coordinate-invariant, differential geometric formulation of the kinematic calibration problem for a general class of mechanisms. The mechanisms considered may have multiple closed ...
Manipulability of Closed Kinematic Chains
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a coordinate-invariant differential geometric analysis of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant ...
Singularity Analysis of Closed Kinematic Chains
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a coordinate-invariant differential geometric analysis of kinematic singularities for closed kinematic chains containing both active and passive joints. Using the geometric ...
Performance Analysis of Parallel Mechanism Architectures for CNC Machining Applications
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper we propose a set of criteria to evaluate the performance of various parallel mechanism architectures for CNC machining applications. In the robotics literature mathematical formulations ...
Design of Developable Surfaces Using Optimal Control
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper formulates the developable surface design problem in an optimal control setting. Given a regular curve b(t) on the unit sphere corresponding to a one-parameter family of rulings, and ...
Design and Analysis of a Spherical Continuously Variable Transmission
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this article we propose the design of a novel continuously variable transmission, the spherical continuously variable transmission (S-CVT). The S-CVT consists of a sphere, input and output ...
A Biarticulated Robotic Leg for Jumping Movements: Theory and Experiments
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper investigates the extent to which biarticular actuation mechanisms—spring-driven redundant actuation schemes that extend over two joints, similar in function to biarticular muscles found ...