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RISDesign of a New Family of Kinematically Redundant Parallel Mechanisms With Two Rotations and One Translation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents a new family of kinematically redundant parallel mechanisms (KR-PMs) with two rotations and one translation (2R1T) based on the Lie group method. Compared with the 2-UPR/RPU PM, these PMs have two ...
A New Family of Symmetrical 2T2R Parallel Mechanisms Without Parasitic Motion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper focuses on parallel mechanisms (PMs) that can perform two translations and two rotations (2T2R). Two sufficient conditions for eliminating parasitic motion in 2T2R PMs are presented. A motion expression satisfying ...
Kinematic Analysis and Dimension Optimization of a New Reconfigurable Parallel Mechanism With 1R2T and 2R1T Operation Modes
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces a novel reconfigurable parallel mechanism (RPM) consisting of two PRU limbs (P denotes a prismatic joint, R denotes a revolute joint, U denotes a universal joint) and one PUU limb. The proposed RPM ...
Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Overconstrained parallel manipulators (PMs) without actuation redundancy have been widely used in various applications, such as the parallel module of the Exechon robot for workpiece machining. However, existing methods ...
A Micro-Deformation Model of Parallel Manipulators in the Gravity Field
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Establishing a microelastic deformation (micro-deformation) model of parallel manipulators (PMs) in the gravity field is of great significance for improving the calibration accuracy. Gravity affects the limb constraint ...
Dual-Space Dynamics Adaptive Synchronization Control for Redundantly Actuated Parallel Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. Redundantly Actuated Parallel Robots (RAPRs) utilize multiple coordinated actuators to enhance structural stiffness, load capacity, and motion flexibility, making them suitable for high-precision manufacturing ...
Pose Reliability-Oriented Accuracy Synthesis: A Framework With Validation on a Five-Axis Hybrid Kinematic Machining Unit
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. This article presents a reliability-oriented accuracy synthesis framework for five-axis hybrid kinematic machining units (HKMUs) that harmonize geometric accuracy, computational efficiency, and manufacturing ...
Analyses of Morphological Properties of a Generalized Miura Origami Structure
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we generalize Miura origami and propose a method for analyzing a generalized Miura origami structure. Morphological properties of the generalized Miura origami element during the deploy motion are analyzed ...
Design and Experimental Investigation of a New 2R1T Overconstrained Parallel Kinematic Machine With Actuation Redundancy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Two rotations and one translation (2R1T) parallel kinematic machines (PKMs) are suitable for the machining of complex curved surfaces, which requires high speed and precision. To further improve rigidity, precision, and ...
Influence of Hybrid Fiber Reinforcement on Mechanical Properties and Autogenous Shrinkage of an Ecological UHPFRCC
Publisher: American Society of Civil Engineers
Abstract: Ultra-high-performance fiber-reinforced cementitious composites UHPFRCC) possess outstanding mechanical properties and durability. Strength development and shrinkage deformation are critical properties of UHPFRCC and should ...