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Closure to “Discussion of ‘Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement’” (1992, ASME J. Appl Mech., 59, pp. 242–243)
Publisher: The American Society of Mechanical Engineers (ASME)
Minimization of Power Losses in Cooperating Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The control of multiple manipulators handling a common object entails the solution of an underdetermined system of linear equations which represents the system’s dynamics. In order to choose an ...
The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce ...
The Proportional-Damping Matrix of Arbitrarily Damped Linear Mechanical Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The vibration of linear mechanical systems with arbitrary damping is known to pose challenging problems to the analyst, for these systems cannot be analyzed with the techniques pertaining to ...
Kinematic Inversion of Parallel Manipulators in the Presence of Incompletely Specified Tasks
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the kinematic inversion of redundant parallel manipulators in the presence of incompletely specified tasks is formulated as an optimization problem. The performance index used is ...
The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The ...
A General Method of Four-Bar Linkage Mobility Analysis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The problem of mobility associated with four-bar linkages is addressed in this paper. The mobility analysis is reduced to finding the global extrema of a quadratic function on a cylinder, which ...
The Global Least-Square Optimization of Function-Generating Linkages
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: As shown elsewhere, the approximate least-square synthesis of function-generating linkages can be formulated in terms of one single decision variable. Hence, functions representing global properties ...
An Algebraic Formulation of Grashof’s Mobility Criteria With Application to Linkage Optimization Using Gradient-Dependent Methods
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Sets of constraints on analytic functions of linkage parameters, equivalent to those of Grashof’s mobility criteria, are derived. These inequalities represent necessary and sufficient mobility ...
The Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the design of a planar three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Four different design criteria are established and used to produce ...