| dc.contributor.author | Damerla, Revanth | |
| dc.contributor.author | Awtar, Shorya | |
| dc.date.accessioned | 2022-02-05T21:40:06Z | |
| dc.date.available | 2022-02-05T21:40:06Z | |
| dc.date.copyright | 3/12/2021 12:00:00 AM | |
| dc.date.issued | 2021 | |
| dc.identifier.issn | 1942-4302 | |
| dc.identifier.other | jmr_13_3_035001.pdf | |
| dc.identifier.uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4276098 | |
| dc.description.abstract | This paper presents a systematic constraint-based analysis of the performance attributes of eight parallel kinematic articulated wrist mechanisms from the existing literature. These performance attributes include the number, nature (i.e., pure rotation, or translation, or a combination), and location of a mechanism’s Degrees of Freedom (DoFs) in the nominal and displaced configurations, load transmission capability along these DoFs, and load-bearing capability along the constraint directions. This systematic analysis reveals performance tradeoffs between these performance attributes for a given mechanism as well as design tradeoffs across these mechanisms. This analysis also helps inform the suitability of a given mechanism for specific applications. | |
| dc.publisher | The American Society of Mechanical Engineers (ASME) | |
| dc.title | Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms | |
| dc.type | Journal Paper | |
| dc.journal.volume | 13 | |
| dc.journal.issue | 3 | |
| dc.journal.title | Journal of Mechanisms and Robotics | |
| dc.identifier.doi | 10.1115/1.4049947 | |
| dc.journal.fristpage | 035001-1 | |
| dc.journal.lastpage | 035001-10 | |
| dc.page | 10 | |
| dc.tree | Journal of Mechanisms and Robotics:;2021:;volume( 013 ):;issue: 003 | |
| dc.contenttype | Fulltext | |
