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RISA Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics ...
Composition Principle Based on Single-Open-Chain Unit for General Spatial Mechanisms and Its Application—In Conjunction With a Review of Development of Mechanism Composition Principles
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Based on the general degree-of-freedom (DOF) formula for spatial mechanisms proposed by the author in 2012, the early single open chain (SOC)-based composition principle for planar mechanisms is extended to general spatial ...
A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: According to the topological design theory and the method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a three-degrees-of-freedom (3-DOF) translational PM ...