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Keywords: manipulator kinematics
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Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2011, 3(4): 041004.
Published Online: September 26, 2011
... coordinate frame O. The QKM, denoted G ( M 1 , M 2 ) , is said to have the motion type of a Lie subgroup G if the set of relative displacements, M 1 - 1 · M 2 , agrees with G in a neighborhood of the identity element. □ manipulator kinematics...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2011, 3(3): 031005.
Published Online: July 27, 2011
... that the reference angle can be tracked with greater accuracy than is possible with the open-loop system. This is particularly visible in the angles with zero reference where the maximum error has been halved. 05 06 2010 04 02 2011 27 07 2011 27 07 2011 closed loop systems manipulator...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2011, 3(3): 034501.
Published Online: July 19, 2011
... as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted. 31 05 2010 26 04 2011 19 07 2011 19 07 2011 actuators bending couplings design engineering human-robot interaction manipulator...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021013.
Published Online: April 20, 2011
... ) will be briefly reviewed here. 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 precision...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021006.
Published Online: March 30, 2011
... general-type architectures of 4DOF parallel manipulators with potential applications are synthesized systematically in consideration of the actuated pairs near the fixed base. 26 04 2009 04 03 2010 30 03 2011 30 03 2011 end effectors manipulator kinematics Schoenflies...
Topics: Generators
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021004.
Published Online: March 10, 2011
... (mechanical) design engineering end effectors manipulator kinematics The design of a mechanical system is often the result of an optimization process, aimed to obtain the best performances inside a given task space, under fixed constraints. An optimal design of a robot generally refers to the one...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011014.
Published Online: February 10, 2011
... where pairs of revolute joints become either collinear or aligned 180 deg apart from each other. 19 03 2009 22 12 2010 10 02 2011 10 02 2011 couplings manipulator kinematics robot wrist rotation sequence spherical triangle spherical linkage parallel mechanism...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011013.
Published Online: February 10, 2011
... matrices Jacobian matrices Lie algebras manipulator kinematics motion control velocity control Lower mobility parallel manipulators having fewer than six degrees of freedom (DOFs) continue to draw interest from both industry and academia because they regularly offer improved balance between...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011007.
Published Online: January 6, 2011
... parallel manipulator in order to guarantee that the robot works in the same assembly mode. This work may facilitate the control of the quadratic spherical parallel manipulator. 19 07 2010 15 11 2010 06 01 2011 06 01 2011 manipulator kinematics polynomials parallel...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011006.
Published Online: November 30, 2010
... group background, the reader is referred to Refs. 39 40 . 12 10 2009 20 09 2010 30 11 2010 30 11 2010 couplings deformation geometry Jacobian matrices manifolds manipulator kinematics kinematic mapping constraints singularities configuration space generic...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011004.
Published Online: November 30, 2010
... 2010 30 11 2010 30 11 2010 geometry Jacobian matrices manipulator kinematics parallel mechanism architecture screw based singularity 3RRRS Parallel manipulators have many advantages over serial manipulators in terms of high pay-load/weight ratio, velocity, stiffness...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011005.
Published Online: November 30, 2010
... by velocity and acceleration of platform in PM. Finally, the solving procedures are illustrated by applying this approach to a 4DOF PM. angular velocity manipulator dynamics manipulator kinematics parallel manipulator kinematics dynamics Currently, some limited-DOF PMs have attracted much...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011002.
Published Online: November 23, 2010
... University Press , Cambridge, UK . 10.1017/CBO9780511530173 Tsai , L. W. , 1999 , Robot Analysis , Wiley , New York . 31 01 2010 15 09 2010 23 11 2010 23 11 2010 fasteners Jacobian matrices manipulator kinematics reciprocal Jacobian screw based...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011003.
Published Online: November 23, 2010
... manipulator kinematics rotation set theory Parallel mechanisms having two dimensional rotations have a large potential application field, including orientating devices and milling machines. The most famous 2DOF spherical parallel mechanism may be the one introduced in Ref. 1 for the orienting...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041009.
Published Online: September 30, 2010
... in this way. In order to treat planes and spheres on an equal footing, the Clifford algebra for the Möbius group is introduced. 04 03 2010 22 07 2010 30 09 2010 30 09 2010 algebra elasticity manipulator kinematics shear modulus Geometric constraints are of fundamental...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. November 2010, 2(4): 044501.
Published Online: August 30, 2010
... are the formulas of the current solution to the FDA of the Agile Eye. 31 05 2009 12 05 2010 30 08 2010 30 08 2010 manipulator kinematics parallel mechanism quadratic parallel mechanism spherical parallel mechanism forward displacement analysis singularity analysis...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031015.
Published Online: July 27, 2010
... manipulator kinematics mobile robots wheels instant center jerk higher order kinematics wheeled mobile platforms planar motion motion synthesis A wheeled mobile platform should be considered as an open architecture system that uses a wide variety of steered/powered wheels, vector directed...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031009.
Published Online: July 21, 2010
... in the frame O - x y z , and a 0 i denotes the position vector of point A i in the frame A 4 - u v w . 20 10 2009 27 03 2010 21 07 2010 21 07 2010 end effectors Jacobian matrices manipulator kinematics performance index...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031003.
Published Online: June 21, 2010
... 4 0/0 −90/−90 5 / 5 ̂ 0/0 θ 5 0/0 90/90 6 / 6 ̂ 0.27/0.27 θ 6 0/0 0/0 05 01 2010 29 04 2010 21 06 2010 21 06 2010 gravity manipulator kinematics motion control springs (mechanical) suspensions...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031002.
Published Online: June 21, 2010
... operational workspace by means of path planning. A descriptive study is presented regarding the diverse possible paths that allow changing between direct kinematic solutions, thus, enlarging the manipulator’s range of motion. 21 04 2009 08 02 2010 21 06 2010 21 06 2010 manipulator...