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RISOn the Derivation of Grashof-Type Movability Conditions With Transmission Angle Limitations for Spatial Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Derivation of Grashof-type movability conditions for spatial mechanisms that may include transmission angle limitations is discussed. It is shown that in general, different conditions must be ...
On the Galloway-Type of Spatial Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The Galloway mechanism is a plane four-bar, drag-link-type linkage with one pair of equal-length shorter links, and one pair of equal-length longer links, forming a rhomboid geometry. The short ...
Workspace Analysis of 4R Manipulators With Various Degrees of Dexterity
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: For 4R manipulators and their various possible configurations, workspaces with full, partial, and zero dexterity are defined, and a procedure to determine them is developed. As examples, two 4R ...
A Systematic Method for Kinematics Synthesis of High-Speed Mechanisms With Optimally Integrated Smart Materials
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A systematic method is presented for kinematics synthesis of high-speed mechanisms with optimally integrated smart materials based actuators for the purpose of modifying the output link motion. ...
Micro/Macro or Link-Integrated Micro-actuator Manipulation—A Kinematics and Dynamics Perspective
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Smart (active) materials based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of robot ...
Geometrically Approximated Rotatability Conditions for Spatial RSRC Mechanisms With Joint Angle Limitations
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: For closed-loop spatial RSRC mechanisms, input-output rotatability conditions, i.e., conditions for the existence of crank-rocker and drag-link types of mechanisms, are derived using geometrical ...
Geometric Synthesis of Manipulators Using the Monte Carlo Method
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new approach to the solution of problems of geometric synthesis of manipulators is presented. It utilizes the Monte Carlo method, is general, and can be applied to any type of manipulator. ...
Generation of Manipulator Workspace Boundary Geometry Using the Monte Carlo Method and Interactive Computer Graphics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The Monte Carlo method is used to generate the workspaces of manipulators, and the boundary surfaces that separate subspaces having different numbers of configurations (branches); i. e., the ...
Determination of Allowable Manipulator Link Shapes; and Task, Installation, and Obstacle Spaces Using the Monte Carlo Method
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The Monte Carlo method is used to solve a number of manipulator link shape design, task space, and obstacle placement problems. The shape of links of manipulators that are to operate within ...
Approximated Grashof-Type Movability Conditions for RSSR Mechanisms With Force Transmission Limitations
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Closed-form Grashof-type movability conditions are derived for closed-loop RSSR mechanisms using a geometrical approximation technique. The conditions that ensure the presence of crank-rocker and ...