...Shuguang Huang; Joseph M. Schimmels This paper presents a new method for the realization of a planar compliant behavior with an elastic mechanism. The mechanisms considered are parallel with symmetric geometry. We show that any planar stiffness matrix can be realized using a parallel mechanism...

... , F. E. , 1931 , “ Contribution à la géométrie des systèmes articulés ,” Soc. Math. Fr. , 59 , pp. 183 – 210 . 21 Bricard , R. , 1927 , Lecons de cinématique, Tome II Cinématique Appliquée , Gauthier-Villars , Paris , pp. 7 – 12 . Of all the deployable structures...

... – 24 . 10.1115/1.533542 15 04 2010 24 09 2010 20 04 2011 20 04 2011 calibration geometry manipulator kinematics Geometric accuracy is a crucially important performance factor for parallel manipulators, especially under circumstances where relatively high...

... optimal design. The method described here consists of considering simultaneously robot geometry and joint repeatability, keeping both the reach and the total cost of the sensors constant. It results in an optimization problem with adimensional ratios, which then allows easy comparisons with existing SCARA...

.... , Stanišić , M. M. , and Hall , A. S. J. , 1995 , “ Application of Instantaneous Invariants to the Path Tracking Control Problem of Planar Two Degree-of-Freedom Systems: A Singularity-Free Mapping of Trajectory Geometry ,” Mech. Mach. Theory 0094-114X , 30 ( 6 ), pp. 883 – 896 . 10.1016/0094...

... of generic properties of kinematic mappings are discussed. One accounts for the stability of the manifold property with respect to small changes in the geometry of a mechanism while the other concerns the likelihood that a mechanism possesses smooth manifolds of singularities. Singularities forming smooth...

... limbs: revolute-revolute-revolute-spherical. We solve the inverse and show the forward kinematics of the mechanism and then use the screw theory to develop the Jacobian matrix of the manipulator. We demonstrate how to use screw and line geometry tools for the singularity analysis of the mechanism. Both...

... to achieve any compliance requirements. 03 07 2009 20 08 2010 23 11 2010 23 11 2010 couplings eigenvalues and eigenfunctions elasticity geometry rotation Complaint mechanisms are much sought after due to their inherent advantages such as reduced wear, friction...

... position to the next. Much, if not all of the previous work in this area, has been based on point geometry. In this paper, we develop a method for motion reconstruction based on line geometry. A geometric method is developed based on line geometry that can be considered a generalization of the classical...

...Shorya Awtar; Kevin Shimotsu; Shiladitya Sen Redundant constraints are generally avoided in mechanism design because they can lead to binding or loss in expected mobility. However, in certain distributed-compliance flexure mechanism geometries, this problem is mitigated by the phenomenon of elastic...

... a fast method to graphically represent all interference regions in the manipulator workspace, given its geometry and the orientation of its end effector. cables (mechanical) design engineering end effectors geometry interference mechanical contact mechanical interference cable cable...

... screw system, singularity is identified related to the constraint configuration based on Grassmann line geometry and dependency of the constraint screw system, leading to selection of the design parameters that avoid the platform singularity. Clavel , R. , 1988 , “ Delta, a Fast Robot...

... starts from examining the geometry of the ball variant and its composition, and decomposes it into loops containing eight-bar radially foldable linkages. To investigate the eight-bar radially foldable linkage, constraint matrices are developed using the screw-loop equation. This paper extends the study...

... parallel Schönflies motion robots is then developed. Certain not widely used but useful tools of algebraic geometry are explained and applied for this purpose. These constraints and tools are also applied to some special parallel robots called “double triangular” to show that the approach is flexible...

... include large, nonlinear deflections, singularities due to two possible motion configurations as they leave their planar state, and coupling of material properties and geometry in predicting mechanism behavior. This paper defines lamina emergent mechanisms, motivates their study, and proposes...

... to determine. Only an approximate optimal architecture is available. geometry manipulator dynamics optimisation MSSM Gough–Stewart platform singularity-free workspace geometric optimization reference orientation Parallel mechanisms possess significant advantages over serial mechanisms...

... geometry theory, we analyze the pose transformations that bring infinite solutions and present a kinematic calibration integrated of closed-loop and open-loop methods. In the integrated method, the closed-loop calibration solves all the solutions that fit the constraint equations, and the open-loop...