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RISDesign of a New Family of Kinematically Redundant Parallel Mechanisms With Two Rotations and One Translation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents a new family of kinematically redundant parallel mechanisms (KR-PMs) with two rotations and one translation (2R1T) based on the Lie group method. Compared with the 2-UPR/RPU PM, these PMs have two ...
Mobility Analysis of Limited Degrees of Freedom Parallel Mechanisms in the Framework of Geometric Algebra
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Mobility is a basic property of a mechanism. The aim of mobility analysis is to determine the number of degreesoffreedom (DOF) and the motion pattern of a mechanism. The existing methods for mobility analysis have some ...
New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Redundantly actuated parallel manipulators (PMs) receive growing interest due to their reduced singularity and enlarged workspace. This paper proposes new indices for optimal design and analysis of redundantly actuated PMs ...
Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Remote center-of-motion (RCM) parallel manipulators (PMs) are fit for robotized minimally invasive surgery (MIS). RCM PMs with fixed linear actuators have the advantages of high stiffness, reduced moving mass, and higher ...
Optimal Design of a 2 UPR RPU Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper investigates dimensional optimization of a 2UPRRPU parallel manipulator (where U is a universal joint, P a prismatic pair, and R a revolute pair). First, the kinematics and screws of the mechanism are analyzed. ...
A New Family of Symmetrical 2T2R Parallel Mechanisms Without Parasitic Motion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper focuses on parallel mechanisms (PMs) that can perform two translations and two rotations (2T2R). Two sufficient conditions for eliminating parasitic motion in 2T2R PMs are presented. A motion expression satisfying ...
Kinematic Analysis and Dimension Optimization of a New Reconfigurable Parallel Mechanism With 1R2T and 2R1T Operation Modes
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces a novel reconfigurable parallel mechanism (RPM) consisting of two PRU limbs (P denotes a prismatic joint, R denotes a revolute joint, U denotes a universal joint) and one PUU limb. The proposed RPM ...
Kinematic Analysis and Optimal Design of a Novel Schönflies-Motion Parallel Manipulator With Rotational Pitch Motion for Assembly Operations
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a novel Schönflies-motion Parallel Manipulator with RotationalPitch motion (SPM-RP) based on a single-platform fully parallel mechanism. An analysis of the position, workspace, velocity, and singularity ...
Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Overconstrained parallel manipulators (PMs) without actuation redundancy have been widely used in various applications, such as the parallel module of the Exechon robot for workpiece machining. However, existing methods ...
Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Multi-loop coupling mechanisms (MCMs) have been widely used in aerospace engineering, architectural design, and outdoor activities. This paper proposes a general method for analyzing the singularities of MCMs using geometric ...