... rotor example is used to demonstrate the effectiveness of the proposed robust design method. 14 11 2008 06 05 2009 20 07 2009 design engineering eigenvalues and eigenfunctions Jacobian matrices rotors stability systems engineering robust eigenvalue design eigenvalue...

... redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation. 12 06 2007 22 08 2008 08 10 2008 Jacobian matrices patient rehabilitation robot dynamics robot kinematics The use of robots...

... of constrained wrench of these PKMs are analyzed, and the poses of the active/constrained forces are determined. Second, based on the principle of virtue work and the determined active/constrained forces, the formulas are derived for solving the 6 × 6 Jacobian matrices of these PKMs and the stiffness matrices...

..., the Jacobian matrices of the manipulators are derived, and different types of singularities are analyzed and demonstrated. It is shown that the vast majority of singularities can be avoided by using kinematic redundancy. 13 02 2007 05 10 2007 15 04 2008 4DOF kinematically redundant...

... turbines Jacobian matrices machine tools manipulator kinematics In the past, most research focused on the nonredundant parallel manipulator. However, these manipulators have smaller workspace, lower dexterity, and more singular configurations ( 1 2 3 ). Moreover, singularities make the limited...

... . Pond , G. , and Carretero , J. A. , 2006 , “ Formulating Jacobian Matrices for the Dexterity Analysis of Parallel Manipulators ,” Mech. Mach. Theory 0094-114X 10.1016/j.mechmachtheory.2006.01.003 , 41 , pp. 1505 – 1519 . Abdel-Malek , K. A. , and Yeh , H. J. , 2000...

.... 05 08 2006 15 11 2006 Hessian matrices Jacobian matrices manipulator kinematics structural engineering torque Corresponding to the parallel manipulators with n SPS-type active legs and one passive constrained leg in various possible serial structures, a common 6 × 6...

... with five DOFs are presented to illustrate the use of the unified approach to solve their inverse kinematics and the driving forces. The solving results are verified by the simulation mechanisms. 22 03 2006 03 11 2006 force control geometry Jacobian matrices manipulator kinematics...

... the application of the proposed approach. 10 11 2005 05 06 2006 manipulator kinematics Jacobian matrices Referring to Eq. 9 , Gosselin and Angeles ( 8 ) defined three types of singularities that can occur in parallel mechanisms. In this paper the second type of singularity...

... Jacobian matrices kinematic influence coefficient lower-mobility parallel mechanism Jacobian Hessian According to the number of degrees of freedom (DoF), parallel mechanisms (PMs) can be classified into three classes: lower-mobility PM ( DoF < 6 ) , 6-DoF PM, and redundant...

... and the approach presented apply to a large class of single-loop overconstrained linkages. The criterion is reformulated, in terms of the well-known Jacobian matrices, for exceptional linkages and extended to linkages with partitioned mobility and trivial linkages. Several examples are included. 10 05 2005...

... + a 2 + a 3 = 1 . The platform stiffness can hence be derived from the legs’ property in the Jacobian matrices and the twist deflection. The twist deflection of individual legs has the following relationship with the twist deflection...

... engineering Jacobian matrices inverse problems In spite of the enormous progress made in the area of robot kinematics since the eighties, a broadly acceptable methodology for the determination of the parameters defining the fundamental geometry —a concept that will be given a precise connotation...

.... The CAD variation geometric approach is straightforward, and is advantageous from the viewpoint of accuracy and repeatability without compiling any computer program. 17 02 2005 24 07 2005 CAD manipulator kinematics Jacobian matrices mechanical engineering computing CAD variation...

... be used for optimal design and show that their calculation is most challenging. 19 05 2005 20 06 2005 Jacobian matrices design engineering robots We will use a relatively general definition of parallel robots, focusing on nonredundant mechanisms. A parallel robot is defined...

...Haidong Li; Clément M. Gosselin; Marc J. Richard; Boris Mayer St-Onge The determination of the 6D singularity locus of the general Gough-Stewart platform is discussed in this article. The derivation of the velocity equation and the corresponding Jacobian matrices is first presented. Then a new...

... of Cincinnati Machine 5 . Jacobian matrices robot kinematics optimisation calibration It was determined that according to Eq. ( 53 ) the error mapping matrix, E , could be alternatively arranged as a function of the inverse Jacobian, J and thus it is proposed that sensitivity analysis...

... 2005 manipulators bifurcation Jacobian matrices position control uncertainty handling In this case, the configuration of Stewart parallel manipulators at a set of the given input parameters μ is (8) M μ = [ M p , M α ] T = [ x 0 , y 0...

..., “A New Geometric Notation for Open and Closed Loop Robots,” Proc. IEEE Int. Conf. Rob. Aut., pp. 1174–1179. Wenger , P. , 1998 , “ Classification of 3R Positioning Manipulators ,” ASME J. Mech. Des. , 120 , pp. 327 – 332 . manipulators tolerance analysis Jacobian matrices...

... for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received July 14, 2003; revised February 25, 2004. Associate Editor: M. Raghavan. 14 July 2003 25 February 2004 14 02 2005 manipulators actuators failure analysis Jacobian matrices Parallel robots, unlike serial...