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RISKinetostatics of S (nS)PU SPU and S (nS)PU 2SPU Nonholonomic Parallel Wrists
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: S(nS)PUSPU and S(nS)PU2SPU are two types of nonholonomic wrists that are generated from the “ordinary†wrists of type S3SPU (fully parallel wrists (FPW)), by replacing a spherical pair (S) with a nonholonomic spherical ...
A Novel Dynamic Model for Single Degree of Freedom Planar Mechanisms Based on Instant Centers
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Many even complex machines employ single degreeoffreedom (singledof) planar mechanisms. The instantaneous kinematics of planar mechanisms can be fully understood by analyzing where the instant centers (ICs) of the relative ...
Analytic and Geometric Technique for the Singularity Analysis of Multi Degree of Freedom Spherical Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Mechanisms' instantaneous kinematics is modeled by linear and homogeneous mappings whose coefficient matrices are also meaningful to understand their static behavior through the virtual work principle. The analysis of these ...
Direct Position Analysis of a Particular Translational 3-URU Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Direct position analysis (DPA) of parallel manipulators (PMs) is in general difficult to solve. Over on PMs’ topology, DPA complexity depends on the choice of the actuated joints. From an analytic point of view, the system ...
A Novel Method to Design Translational Parallel Manipulators With an Assigned Maximum Orientation Error
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Geometric Design and Tolerancing (GD&T) is the language that specifies several design features and, in this paper, is used to deal with the tolerances of Translational Parallel Manipulators (TPMs). TPMs intend to make ...
Geometric Error Effects on Manipulators' Positioning Precision: A General Analysis and Evaluation Method
Publisher: The American Society of Mechanical Engineers (ASME)
A Technique Based on Adaptive Extended Jacobians for Improving the Robustness of the Inverse Numerical Kinematics of Redundant Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The extended Jacobian is a technique for solving the redundancy of redundant robots. It is based on the definition of secondary tasks, through constraint functions that are added to the mapping between joint rates and ...