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RISA 3-ṞPR Parallel Mechanism With Singularities That are Self-Motions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The Cartesian workspace of most three-degree-of-freedom parallel mechanisms is divided by Type 2 (also called parallel) singularity surfaces into several regions. Accessing more than one such ...
Orientation Capability, Error Analysis, and Dimensional Optimization of Two Articulated Tool Heads With Parallel Kinematics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Because of the increasing demand in industry for A/B-axis tool heads, particularly in thin wall machining applications for structural aluminium aerospace components, the three-degree-of-freedom ...
A New Medical Parallel Robot and Its Static Balancing Optimization
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The preoperative procedure for treating peripheral arterial disease requires 3D mapping of the blood vessel of interest. Because the available technologies are costly and invasive, and have an ...
Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the results of a detailed study of the singular configurations of 3-DOF planar parallel mechanisms with three identical legs. Only prismatic and revolute joints are considered. ...
Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper addresses the design issue of a three-axis tool head with three-PRS parallel kinematics (P, R, and S standing for prismatic, revolute, and spherical joint, respectively) by considering ...