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RISDesign and Development of a High Speed and High Rotation Robot With Four Identical Arms and a Single Platform
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a novel parallel kinematic mechanism (PKM) with Schأ¶nflies motion has been proposed under the guidance of a graphical type synthesis method. This PKM is composed of four identical arms and a single platform ...
Motion–Force Interaction Performance Analyses of Redundantly Actuated and Overconstrained Parallel Robots With Closed-Loop Subchains
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Motion–force interaction performance analyses of redundantly actuated and overconstrained parallel robots with closed-loop subchains are an open problem considering two challenges: (a) how to take all the internal wrenches ...
Screw Theory-Based Motion/Force Transmissibility Analysis of High-Speed Parallel Robots With Articulated Platforms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Motion/force transmissibility is an essential property reflecting the kinematic performance of parallel robots. Research on this performance of the single-platform parallel robots (SPPRs) has long been concerned and studied. ...
Stiffness Evaluation of an Adsorption Robot for Large-Scale Structural Parts Processing
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Efficient and economical processing of large-scale structural parts is in increasing need and is also a challenging issue. In this paper, an adsorption machining robot for processing of large-scale structural parts is ...
Measurement Configuration Optimization and Kinematic Calibration of a Parallel Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the kinematic calibration of a four-degrees-of-freedom (4DOF) high-speed parallel robot. In order to improve the calibration effect by decreasing the influence of the unobservable disturbance variables ...
Kinematic Optimization of a Five Degrees-of-Freedom Spatial Parallel Mechanism With Large Orientational Workspace
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the kinematic optimization of a five degrees-of-freedom (DoFs) spatial parallel mechanism with three kinematic chains. Inspired by the structure of the icosahedron, the base of the discussed mechanism ...
Mobility, Singularity, and Kinematics Analyses of a Novel Spatial Parallel Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A spatial parallel kinematic mechanism (PKM) with five degrees of freedom (DoFs) and three limbs is proposed in this paper. To investigate the characteristics of the proposed mechanism's DoFs, mobility analysis based on a ...
Technology-Oriented Synchronous Optimal Design of a 4-Degrees-of-Freedom High-Speed Parallel Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Parameters optimization is complicated by various parameters and nonlinear design problems. In this paper, the interaction mechanism of motion/force transmissibility and various parameters on normalized motor torque and ...
Force/Motion Transmissibility Analysis of Six Degree of Freedom Parallel Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Drawing mainly on the concepts of dual space and dual basis in linear algebra and on existing screw theory, this paper presents a novel and systematic approach for the force/motion transmissibility analysis of 6DOF parallel ...
A Novel Parameter Optimization Method for the Driving System of High-Speed Parallel Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Driving system parameters optimization, especially the optimal selection of specifications of motor and gearbox, is very important for improving high-speed parallel robots' performance. A very challenging issue is parallel ...