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RISDiscussion of “Kinematic Framework for Evaluating Seismic Earth Pressures on Retaining Walls” by Scott J. Brandenberg, George Mylonakis, and Jonathan P. Stewart
Publisher: American Society of Civil Engineers
New Results on Robot Modeling and Simulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper the possibility of simulating the robot forward dynamics by making use of the inertia matrix and of the kinetic energy gradient only is demonstrated. Such method is shown to ...
Forward Problem Singularities of Manipulators Which Become PS-2RS or 2PS-RS Structures When the Actuators are Locked
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The instantaneous forward problem (IFP) singularities of a parallel manipulator (PM) must be determined during the manipulator design and avoided during the manipulator operation, because they are ...
Kinematics of the Translational 3-URC Mechanism1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The use of less than six degrees of freedom (dof) mechanisms instead of six-dof ones is always recommended when the application makes it possible, since their architectures and control are ...
Kinematic Analysis of the (nS)-2SP U Underactuated Parallel Wrist
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The majority of the manipulation tasks require the motion of the end-effector from an initial pose to a final one without any particular condition on the path. Thus, the reduction of the ...
Position Analysis and Path Planning of the S-(nS)P U-SP U and S-(nS)PU-2SP U Underactuated Wrists
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In a previous work, this author showed that ten topologies for underactuated parallel wrists can be generated from a fully parallel wrist (FPW). Three of them are obtained by simply replacing ...
Kinetostatics 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 ...
Closure to “Discussion of ‘Kinematics of the Translational 3-URC Mechanism’ ” (2006, ASME J. Mech. Des., 128, pp. 812–813)
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Kong and Gosselin (1), with reference to what this author wrote in (2), disagree on the following two points: (i) the inverse position analysis (IPA) of the translational 3-URC has only one ...
Improving the Aero-Thermal Characteristics of Turbomachinery Cascades
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The paper presents the application of an optimization procedure to the aero-thermal design of high performance turbomachinery cascades. The blade profiles are parameterized with third-order Bezier ...