Search
CSV
RISVariable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the construction and reconfiguration analysis of a spatial mechanism composed of four circular translation (G) joints. Two links connected by a G joint, which can be in different forms such as a planar ...
Classification of a 3-RER Parallel Manipulator Based on the Type and Number of Operation Modes
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The type/number of operation modes of a parallel manipulator (PM) may vary with the link parameters of the PM. This paper presents a systematic classification of a 3-RER PM based on the type/number of operation modes. Here, ...
Type Synthesis of Single Loop Overconstrained 6R Spatial Mechanisms for Circular Translation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: To discover singledegreeoffreedom (DOF) singleloop overconstrained mechanisms is still an open problem. This paper deals with the type synthesis of single DOF singleloop overconstrained 6RMCTs (6R spatial mechanisms for ...
Type Synthesis of 3 DOF Parallel Manipulators With Both a Planar Operation Mode and a Spatial Translational Operation Mode1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Type synthesis of multimode parallel manipulators (PMs) (also parallel manipulators with multiple operation modes) is an open issue in the research on reconfigurable mechanisms and robots. This paper deals with the type ...
Reconfiguration Analysis of Multimode Single-Loop Spatial Mechanisms Using Dual Quaternions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Although kinematic analysis of conventional mechanisms is a well-documented fundamental issue in mechanisms and robotics, the emerging reconfigurable mechanisms and robots pose new challenges in kinematics. One of the ...
Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Screw systems composed of (the sum of) three planar pencils of lines are closely related to the singularity analysis of a number of threelegged parallel manipulators (PMs) in which the passive joints in each leg are a ...
Type Synthesis of Two Degrees of Freedom 3 4R Parallel Mechanisms With Both Spherical Translation Mode and Sphere on Sphere Rolling Mode
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Parallel manipulators (PMs) with multiple operation modes are novel reconfigurable PMs, which use less number of actuators and can be reconfigured without disassembly. This paper deals with the type synthesis of 2DOF ...
A Novel Method for Constructing Multimode Deployable Polyhedron Mechanisms Using Symmetric Spatial Compositional Units
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A novel construction method is proposed to construct multimode deployable polyhedron mechanisms (DPMs) using symmetric spatial RRR compositional units, a serial kinematic chain in which the axes of the first and the third ...
Reconfiguration Analysis of a Two Degrees of Freedom 3 4R Parallel Manipulator With Planar Base and Platform1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with a 2DOF (degreesoffreedom) 34R parallel manipulator (PM) with planar base and platform—a novel PM with multiple operation modes (or disassembly free reconfigurable PM) that can use the minimum number ...
Determination of the Workspace of a Three Degrees of Freedom Parallel Manipulator Using a Three Dimensional Computer Aided Design Software Package and the Concept of Virtual Chains1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The determination of workspace is an essential step in the development of parallel manipulators. By extending the virtualchain (VC) approach to the type synthesis of parallel manipulators, this technical brief proposes a ...