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RISA Fast and Robust Hybrid Method for the Solution of the 6-3 Stewart–Gough Platform Direct Position Analysis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A robust and accurate hybrid method for the real-time estimation of the actual configuration of 6-3 Stewart–Gough platforms is presented. The method is hybrid since on one hand it requires the ...
Real-Time Direct Position Analysis of Parallel Spherical Wrists by Using Extra Sensors
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The paper presents an algorithm for the real-time evaluation of the actual end-effector orientation of general parallel spherical wrists. Conceptually, the method relies on evidence that the pose ...
Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Among the several ways adopted for the characterization of manipulator performances is identification of the typologies of maneuvers allowed by the manipulator kinematic arrangement. The multiplicity ...
Closed-Form Direct Position Analysis of a 5–5 Parallel Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The paper presents the closed form direct displacement analysis for a class of Stewart platform-type parallel mechanisms whose general feature consists of six legs which meet five distinct points ...
Forward Kinematics of the General 6–6 Fully Parallel Mechanism: An Exhaustive Numerical Approach Via a Mono-Dimensional-Search Algorithm
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new numerical method for the solution of the direct position analysis of the six d.o.f. fully parallel mechanism with general geometry, often referred to as generalized Stewart platform ...
Forward Displacement Analysis of Parallel Mechanisms: Closed Form Solution of PRR-3S and PPR-3S Structures
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The forward displacement analysis (FDA) in closed form of two classes of new parallel mechanisms derived from the Stewart Platform Mechanism (SPM) is presented in this paper. These mechanisms, ...
Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The paper presents three algorithms for the determination of the actual configuration of the general geometry 6-6 fully-parallel mechanism by using two extra rotary sensors in addition to the ...
Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 1: Basic Concepts
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The authors have proposed a new method for the determination of all potential configurations which may be formed by the manipulator links, the identification of these configurations, and execution ...
Determination of the Actual Configuration of the General Stewart Platform Using Only One Additional Sensor
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a procedure for the determination of the actual configuration of the general geometry Stewart platform (GSP), a fully-parallel manipulator that features two rigid bodies ...
Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of Freedom
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The methods discussed in Part 1 of this paper are applied for the determination of all potential configurations of manipulator links and the execution of prescribed trajectories. The research ...