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RISA Fourier Descriptor-Based Approach to Design Space Decomposition for Planar Motion Approximation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In an earlier work, we have combined a curve fitting scheme with a type of shape descriptor, Fourier descriptor (FD), to develop a unified method to the synthesis of planar four-bar linkages for generation of both open and ...
A Computational Geometric Approach for Motion Generation of Spatial Linkages With Sphere and Plane Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies the problem of spatial linkage synthesis for motion generation from the perspective of extracting geometric constraints from a set of specified spatial displacements. In previous work, we have developed ...
Workspace Augmentation for the Large-Scale Spherical Honeycombs Perfusion Using a Novel 5DOF Reconfigurable Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The volume of workspace is a significant kinematic index of parallel manipulator in some applications of engineering. However, the workspace degradation of the manipulator in extreme position is a demanding issue, which ...
A Task Driven Unified Synthesis of Planar Four Bar and Six Bar Linkages With R and P Joints for Five Position Realization
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the problem of integrated joint type and dimensional synthesis of planar fourbar and sixbar linkages, which could contain both revolute (R) and prismatic (P) joints, for guiding through five specified ...
A Unified Algorithm for Analysis and Simulation of Planar Four Bar Motions Defined With R and P Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a single, unified, and efficient algorithm for animating the coupler motions of all fourbar mechanisms formed with revolute (R) and prismatic (P) joints. This is achieved without having to formulate and ...
A Unified Approach to Exact and Approximate Motion Synthesis of Spherical Four-Bar Linkages Via Kinematic Mapping
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies the problem of spherical four-bar motion synthesis from the viewpoint of acquiring circular geometric constraints from a set of prescribed spherical poses. The proposed approach extends our planar four-bar ...
A Fourier Approach to Kinematic Acquisition of Geometric Constraints of Planar Motion for Practical Mechanism Design
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies the problem of geometric constraint acquisition from a given planar motion task using Fourier descriptor. In the previous work, we established a computational geometric framework for simultaneous type ...
Design of Planar 1-DOF Cam-Linkages for Lower-Limb Rehabilitation Via Kinematic-Mapping Motion Synthesis Framework
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: When designing linkage mechanisms for motion synthesis, many examples have shown that the optimal kinematic constraint on the task motion contains too large deviation to be approximately viewed as a single rotational or ...
An Interactive Rehabilitation Mechanism Design System for Kinematic and Kinetostatic Synthesis With Expandable Solution Space
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Compared to manual therapy, robot therapy can provide more intensive and accurate rehabilitation training. However, most current devices are built on bulky and complex multi-degree-of-freedom (multi-DOF) mechanisms. Recently, ...
An Integrated Kinematic Mapping and Fourier Method to Design Spherical Coupled Serial Chain Mechanisms for Single-Joint Rehabilitation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Robotic devices are capable of reducing the physical burden on rehabilitation therapists and providing training programs of good repeatability, high efficiency, and high precision. When designing the kinematic structure ...