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RISReactionless Two-Degree-of-Freedom Planar Parallel Mechanism With Variable Payload
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A reactionless mechanism is one that does not exert any reaction force or moment on its base at all times, for any arbitrary trajectory of the mechanism. This paper addresses the static and ...
A Statically Balanced Gough/Stewart-Type Platform: Conception, Design, and Simulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Gravity compensation of spatial parallel manipulators is a relatively recent topic of investigation. Perfect balancing has been accomplished, so far, only for parallel mechanisms in which the ...
A Quasi-Static Model for Planar Compliant Parallel Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the mobility, the kinematic constraints, the pose of the end-effector, and the static constraints that lead to the kinematostatic model of a compliant parallel mechanism are ...
On the Modeling of Leg Constraints in the Dynamic Analysis of Gough/Stewart-Type Platforms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper investigates the dynamic model of Gough/Stewart-type platforms, focusing on aspects concerning the proper modeling of leg constraints that seem to have been overlooked in a nonnegligible ...
Optimal Synthesis of a Planar Reactionless Three-Degree-of-Freedom Parallel Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A reactionless mechanism is one in which no reaction forces nor moments are transmitted to the base for any arbitrary motion. This interesting property often requires to increase the total ...
Discretely Deformable Surface Based on Mechanical Interpolation: Application to the Design of a Dynamically Reconfigurable Theater Stage
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the development of an active discretely deformable surface that makes use of mechanical interpolation in order to limit the number of required actuators. First, a planar ...
Determination of Singularity-Free Zones in the Workspace of Planar 3-P̱RR Parallel Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an algorithm for the determination of singularity-free zones in the workspace of the planar 3-P̱RR mechanism. The mathematical derivation of the algorithm is first given. ...
On the Ability of a Cable-Driven Robot to Generate a Prescribed Set of Wrenches
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a new geometry-based method to determine if a cable-driven robot operating in a d-degree-of-freedom workspace (2≤d≤6) with n≥d cables can generate a given set of wrenches ...
Forward Displacement Analysis of a Linearly Actuated Quadratic Spherical Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A quadratic parallel manipulator refers to a parallel manipulator with a quadratic characteristic polynomial. This paper revisits the forward displacement analysis (FDA) of a linearly actuated ...
Conceptual Design and Static Analysis of Novel Planar Spring-Loaded Cable-Loop-Driven Parallel Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Two novel architectures of planar spring-loaded cable-loop-driven parallel mechanisms that do not require actuation redundancy are introduced in this paper. In order to avoid redundancy in the ...