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RISEvaluation 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 ...
Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we propose a novel passive parallel continuum ankle exoskeleton that can provide assistive torque during ankle plantar flexion. Due to the flexible branches arranged in compliance with ankle motion and shape, ...
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 ...
A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Redundantly actuated parallel manipulators with two rotations and one translation (2R1T RAPMs) have the potential for machining complex surfaces, where a large orientation workspace and high stiffness are required. Considering ...
Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Parallel manipulators (PMs) with redundant actuation are attracting increasing research interest because they have demonstrated improved stiffness and fewer singularities. This paper proposes a new redundantly actuated ...
Design and Experimental Investigation of a New 2R1T Overconstrained Parallel Kinematic Machine With Actuation Redundancy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Two rotations and one translation (2R1T) parallel kinematic machines (PKMs) are suitable for the machining of complex curved surfaces, which requires high speed and precision. To further improve rigidity, precision, and ...
Analytical Elastostatic Stiffness Modeling of Overconstrained Parallel Manipulators Using Geometric Algebra and Strain Energy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A general method for the analytical elastostatic stiffness modeling of overconstrained parallel manipulators (PMs) using geometric algebra and strain energy is proposed. First, an analytical solution of the constraint and ...
Analytical Elastostatic Stiffness Modeling of Overconstrained Parallel Manipulators Using Geometric Algebra and Strain Energy
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: A general method for the analytical elastostatic stiffness modeling of overconstrained parallel manipulators (PMs) using geometric algebra and strain energy is proposed. First, an analytical solution of the constraint and ...
Design and Experimental Investigation of a New 2R1T Overconstrained Parallel Kinematic Machine With Actuation Redundancy
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: Two rotations and one translation (2R1T) parallel kinematic machines (PKMs) are suitable for the machining of complex curved surfaces, which requires high speed and precision. To further improve rigidity, precision, and ...