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RISKinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a new 3-RPS (the limb consisting of one revolute, one prismatic, and one spherical joint)/US (universal joint and spherical joint) parallel mechanism with two degrees-of-freedom (DOFs) is obtained by adding ...
Error Sensitivity Analysis of a 1T2R Kinematically Redundant Parallel Mechanism With Closed-Loop Chain
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a generalized method for error modeling of the spatial 1T2R three degrees-of-freedom kinematically redundant parallel mechanism with a closed-loop chain is proposed, which is based on the matrix differential ...
Kirigami-Inspired Thick-Panel Remote Center of Motion Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. The rapid development of microsurgical robotics is increasingly challenging the adequacy of traditional remote center of motion (RCM) mechanisms. Their inherent rigidity, bulkiness, and limited kinematic flexibility ...
Optimal Design of a Kinematically Redundant Planar Parallel Mechanism Based on Error Sensitivity and Workspace
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the dimensional optimization of a (2PRR)-R + 2RRR (P and R represent the prismatic and revolute joint, respectively, and the underline indicates that the joint is the actuator) kinematically redundant parallel ...