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RISA Survey of One Class of 7-Jointed Serially Connected Robots: Type-Synthesis to Obtain Controllably Dexterous Workspace
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A type-synthesis process, which is based on screw theory and geometry, is developed to identify certain robots, each of which can provide controllably dexterous workspace of a tool-point. The ...
Minimizing Assembly Imbalance in Turbomachine Rotors Made With Toothed Couplings: Locating Component Mass Centers
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A method is presented for locating component mass centers in turbomachine rotors made with toothed couplings. In the paper are described the geometrical relationships that would permit one to ...
A Synthesis Procedure for Design of 3-R Planar Robotic Workcells in Which Large Rotations Are Required at the Workpiece
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new method is developed for determining both a satisfactory location of a workpiece and a suitable mounting-angle of the tool for planar 3-R robots that can provide dexterous workspace. The ...
Design Conditions for the Orientation and Attitude of a Robot Tool Carried by a 3-R Spherical Wrist
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The orientational (directional) and attitudinal capabilities for a generally-dimensioned 3-R spherical robot-wrist are presented. The wrist is treated both with joints which can freely rotate and ...
A Mechanics-Based Computer Algorithm for Displaying the Margin of Static Stability in Four-Legged Vehicles
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The subject of this paper is the application of screw-mechanics and geometry to determine the potential upset of computer-controlled four-legged vehicles which are under development for use in ...
Robot Workspace of a Tool Plane: Part 2—Computer Generation and Selected Design Conditions for Dexterity
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper the algorithm is completed for generation of envelope-surfaces for plane-workspaces of generally proportioned manipulators. Then the ruled surface Ψ is used for adapting the algorithm ...
Substitute-Wrists to Aid in the Placing of Tools on Robots With 3-R Spherical Wrists
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper treats the three-jointed spherical wrist on which the tool is placed at an angle δ ≠ 0. A two-parameter set of axes is identified for the wrist such that the angular velocities ...
Minimizing Assembly Runout in Turbo-machines Made With Curvic® Couplings
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new method is presented for optimizing the assembly of turbomachine rotors manufactured with Gleason Fixed CURVIC Couplings. The method permits conversion of radial and axial runout measurements ...
Rigid Body Location and Robot Workspaces: Some Alternative Manipulator Forms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Using an enumeration procedure for connectivity, the theoretically minimum number of actuators is identified for each of six types of point workspace. Robot dexterity is described using the ...
Robot Workspace of a Tool Plane: Part 1—A Ruled Surface and Other Geometry
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The sweeping process is used for conceptually describing plane-workspaces and for distinguishing certain forms of these workspaces for robots. The tangent point to the plane-workspace of a tool ...