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RISVariable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the construction and reconfiguration analysis of a spatial mechanism composed of four circular translation (G) joints. Two links connected by a G joint, which can be in different forms such as a planar ...
Classification of a 3-RER Parallel Manipulator Based on the Type and Number of Operation Modes
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The type/number of operation modes of a parallel manipulator (PM) may vary with the link parameters of the PM. This paper presents a systematic classification of a 3-RER PM based on the type/number of operation modes. Here, ...
Type Synthesis of Single Loop Overconstrained 6R Spatial Mechanisms for Circular Translation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: To discover singledegreeoffreedom (DOF) singleloop overconstrained mechanisms is still an open problem. This paper deals with the type synthesis of single DOF singleloop overconstrained 6RMCTs (6R spatial mechanisms for ...
Type Synthesis of 3 DOF Parallel Manipulators With Both a Planar Operation Mode and a Spatial Translational Operation Mode1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Type synthesis of multimode parallel manipulators (PMs) (also parallel manipulators with multiple operation modes) is an open issue in the research on reconfigurable mechanisms and robots. This paper deals with the type ...
Forward Displacement Analysis and Singularity Analysis of a Special 2-DOF 5R Spherical Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the forward displacement analysis and singularity analysis of a special 2-DOF 5R spherical parallel manipulator, in which the angle between the axes of any two adjacent ...
Reconfiguration Analysis of Multimode Single-Loop Spatial Mechanisms Using Dual Quaternions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Although kinematic analysis of conventional mechanisms is a well-documented fundamental issue in mechanisms and robotics, the emerging reconfigurable mechanisms and robots pose new challenges in kinematics. One of the ...
Classification of 3-Degree-of-Freedom 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A 3-degree-of-freedom (DOF) 3-UPU translational parallel mechanism (TPM) is one of the typical TPMs. Despite comprehensive studies on 3-UPU TPMs in which the joint axes on the base and the moving platform are coplanar, ...
A Novel Large-Range XY Compliant Parallel Manipulator With Enhanced Out-of-Plane Stiffness
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: There is an increasing need for compact large-range XY compliant parallel manipulators (CPMs). This paper deals with a novel large-range XY CPM with enhanced out-of-plane stiffness (LRXYCPMEOS). ...
Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Screw systems composed of (the sum of) three planar pencils of lines are closely related to the singularity analysis of a number of threelegged parallel manipulators (PMs) in which the passive joints in each leg are a ...
Design and Modeling of a Large-Range Modular XYZ Compliant Parallel Manipulator Using Identical Spatial Modules
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: To meet the need for large-range high-precision motion stages, a design methodology of XYZ compliant parallel manipulators (CPMs) is introduced at first. A spatial double four-beam module and a ...