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RISForward Problem Singularities of Manipulators Which Become PS-2RS or 2PS-RS Structures When the Actuators are Locked
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The instantaneous forward problem (IFP) singularities of a parallel manipulator (PM) must be determined during the manipulator design and avoided during the manipulator operation, because they are ...
Kinematics of the Translational 3-URC Mechanism1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The use of less than six degrees of freedom (dof) mechanisms instead of six-dof ones is always recommended when the application makes it possible, since their architectures and control are ...
Kinematic Analysis of the (nS)-2SP U Underactuated Parallel Wrist
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The majority of the manipulation tasks require the motion of the end-effector from an initial pose to a final one without any particular condition on the path. Thus, the reduction of the ...
Position Analysis and Path Planning of the S-(nS)P U-SP U and S-(nS)PU-2SP U Underactuated Wrists
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In a previous work, this author showed that ten topologies for underactuated parallel wrists can be generated from a fully parallel wrist (FPW). Three of them are obtained by simply replacing ...
Closure to “Discussion of ‘Kinematics of the Translational 3-URC Mechanism’ ” (2006, ASME J. Mech. Des., 128, pp. 812–813)
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Kong and Gosselin (1), with reference to what this author wrote in (2), disagree on the following two points: (i) the inverse position analysis (IPA) of the translational 3-URC has only one ...
Analytic Form Solution of the Direct Position Analysis of a Wide Family of Three-Legged Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A wide family of parallel manipulators (PMs) is the one that groups all PMs with three legs where the legs become kinematic chains constituted of a passive spherical pair (S) in series with ...
An Algorithm for Analytically Calculating the Positions of the Secondary Instant Centers of Indeterminate Linkages
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In a planar mechanism, the position of the instant centers reveals important pieces of information about its static and kinematic behaviors. Such pieces of information are useful for designing ...
The 3-RRS Wrist: A New, Simple and Non-Overconstrained Spherical Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Orientating a rigid body without changing its position is required in many technical applications. This manipulation task is accomplished by manipulators (spherical manipulators) that are just ...
Type Synthesis of Underactuated Wrists Generated From Fully-Parallel Wrists
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Design criteria and constructive schemes are presented for a nonholonomic spherical (nS) pair proposed previously, along with a reconfigurable version of the same pair, named nS pair. Type ...
Polynomial Solution to the Position Analysis of Two Assur Kinematic Chains With Four Loops and the Same Topology
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. ...