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Keywords: manipulators
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2011, 3(3): 031007.
Published Online: August 10, 2011
...Georg Nawratil In this paper, we determine all nontrivial self-motions of triangular symmetric simplified manipulators (TSSMs) with two parallel rotary axes which equal the determination of all flexible octahedra where one vertex is an ideal point. This study also closes the classification...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021014.
Published Online: May 4, 2011
...Zhen Huang; Ziming Chen; Jingfang Liu; Shichang Liu It is difficult to manufacture parallel manipulators (PMs) with multiple revolute joint axes intersecting at one point. These types include the 3DOF spherical parallel manipulators (SPMs), the 4DOF 3R1T and 2R2T PMs, the 5DOF 3R2T PMs, etc. PMs...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2011, 3(2): 024501.
Published Online: March 10, 2011
...Xianwen Kong This paper deals with the forward displacement analysis and singularity analysis of a special 2-DOF 5R spherical parallel manipulator, in which the angle between the axes of any two adjacent revolute joints is a right angle. An alternative formulation of the kinematic equations...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021001.
Published Online: March 2, 2011
... configuration. This paper further investigates manipulability of the multifingered hand by modeling the contact point as a hypothetical spherical joint. Based on reciprocity relationship of screw systems, the finger Jacobian matrices and the hand Jacobian matrix are established. With singular value...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031004.
Published Online: July 14, 2010
... determines whether the reference pose is at a constraint singularity and resolves the mobile paths at that singularity. Those results are now extended to a platform manipulator with more than two chains, using a recursive procedure for updating velocity, acceleration, and higher-order descriptions...
Journal Articles
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2009, 1(2): 021004.
Published Online: January 6, 2009
...Qimi Jiang; Clément M. Gosselin The evaluation and representation of the orientation workspace of robotic manipulators is a challenging task. This work focuses on the determination of the theoretical orientation workspace of the Gough–Stewart platform with given leg length ranges [ ρ i min , ρ i...