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Keywords: robots
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Journal Articles
Article Type: Research Papers
J. Mech. Des. November 2008, 130(11): 112304.
Published Online: September 23, 2008
...Qimi Jiang; Clément M. Gosselin The maximal singularity-free workspace of parallel mechanisms is a desirable criterion in robot design. However, for a 6DOF parallel mechanism, it is very difficult to find an analytic method to determine the maximal singularity-free workspace around a prescribed...
Journal Articles
Article Type: Research Papers
J. Mech. Des. October 2008, 130(10): 102305.
Published Online: September 9, 2008
...Zhao Jing; Li Qian The joint velocity jump for redundant robots in the presence of locked-joint failures is discussed in this paper. First, the analytical formula of the optimal joint velocity with minimum jump is derived, and its specific expressions for both all joint failure and certain single...
Journal Articles
Article Type: Research Papers
J. Mech. Des. October 2007, 129(10): 1031–1036.
Published Online: October 2, 2006
...Zhe Jin; Q. J. Ge This paper deals with the problem of synthesizing piecewise rational motions of an object that satisfies kinematic constraints imposed by a planar robot arm with revolute joints. This paper brings together the kinematics of planar robot arms and the recently developed freeform...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. April 2007, 129(4): 455–458.
Published Online: March 29, 2006
...Psang Dain Lin; Jung-Fa Hsieh One of the most popular mathematical tools in the fields of robotics and mechanisms is the Denavit-Hartenberg (DH) notation (Denavit and Hartenberg, 1955, J. Appl. Mech., 77, pp. 215–221) . It is valid only for mechanisms containing prismatic, revolute, helical...
Journal Articles
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 192–198.
Published Online: August 19, 2005
...Clément M. Gosselin This paper aims at developing a general framework for the use of the concept of adaptive mechanical system in the design of advanced robotic devices. The concept of adaptive mechanical system is first formalized. A design methodology is then proposed in order to formulate...
Topics: Design, Robotics
Journal Articles
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 199–206.
Published Online: June 20, 2005
...J. P. Merlet Although the concepts of Jacobian matrix, manipulability, and condition number have existed since the very early beginning of robotics their real significance is not always well understood. In this paper we revisit these concepts for parallel robots as accuracy indices in view...
Journal Articles
Article Type: Research Papers
J. Mech. Des. March 2006, 128(2): 413–421.
Published Online: May 5, 2005
... in California to provide driver assistance for snowplow operators in harsh winter environments. Installation of these magnetic markers into the roadway pavement is a tedious manual operation. In this paper, we present a novel design of a robotic system developed for installation of these magnetic markers...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. January 2006, 128(1): 319–322.
Published Online: March 20, 2005
...Meng Li; Tian Huang; Derek G. Chetwynd; S. Jack Hu This paper deals with the forward position analysis of a 3-DOF parallel mechanism module, which forms the main body of a 5-DOF reconfigurable hybrid robot named TriVariant. The TriVariant is a modified version of the Tricept robot, achieved...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. January 2005, 127(1): 150–155.
Published Online: March 2, 2005
... in the manipulator parameter space, which can be defined explicitly by an equation of the form a 3 = f a 1 , a 2 , d 2 . This result is of interest for the design of new manipulators. Contributed by the Mechanics and Robotics Committee for publication...
Journal Articles
Article Type: Article
J. Mech. Des. November 2004, 126(6): 943–944.
Published Online: February 14, 2005
...Gordon R. Pennock, Awards Chair 14 02 2005 mechanical engineering robots At the Mechanisms and Robotics Awards Luncheon, held on Wednesday September 29, 2004, Dr. John J. Uicker, Jr., Professor of Mechanical Engineering, University of Wisconsin–Madison, received the 2004...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. July 2004, 126(4): 602–608.
Published Online: August 12, 2004
... examples are solved using the three formulations and the corresponding results are compared: a planar mechanism which goes through a singular position, a car suspension with stiff behavior, a 6-dof robot with changing configurations, and the full model of a car vehicle. Furthermore, the last example...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. March 2004, 126(2): 291–300.
Published Online: May 5, 2004
.... For the optimal design, it is shown that by introducing joint limits, the global isotropy of the parallel platforms is improved at the cost of workspace reduction. Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received Sept. 2002...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. March 2003, 125(1): 205–207.
Published Online: March 21, 2003
...Max A. Gonza´lez-Palacios; Jorge Angeles Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received October 2000; revised March 2002. Associate Editor: S. K. Agrawal. 01 October 2000 01 March 2002 21 03...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. September 2002, 124(3): 576–582.
Published Online: August 6, 2002
...J. Dargahi, Assistant Professor This paper reports on design, fabrication and testing of a prototype Polyvinylidene Fluoride (PVDF) tactile sensor for endoscopic and robotic applications. The sensor can measure both compliance and surface roughness. It consists of rigid and compliant elements...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. June 2002, 124(2): 272–276.
Published Online: May 16, 2002
... kinematic structures of multi-fingered hands having a mobility number ranging from 3 to 6 and contact degrees of freedom ranging from 1 to 5 is developed. Further, two theorems concerning the structural characteristics of mechanical hands are presented. Contributed by the Mechanisms and Robotics...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. September 2000, 122(3): 343–346.
Published Online: May 1, 1999
...Shiang-Fong Chen, Assistant Professor; Jiansong Deng, Research Associate This technical brief presents a refined slabbing method, originally used for free-flying robots, for finding efficient paths for nonholonomic robots. Our method takes kinematic constraints and reversal maneuvers into account...