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Determining the Number of Inverse Kinematic Solutions of a Constrained Parallel Mechanism Using a Homotopy Algorithm
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper numerically determines the number of real-valued inverse kinematic solutions to a constrained parallel mechanism composed of three triangular platforms. The base and middle platforms ...
Reliability-Based Design Optimization of Robotic System Dynamic Performance
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this investigation a robotic system’s dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations (DCE) allow designers to predict the dynamic ...