... 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...

... speed, accuracy, rigidity, and reconfigurability when compared with conventional machine tools and industrial robots having serial architectures. acceleration control Hessian matrices Jacobian matrices Lie algebras manipulator kinematics motion control velocity control 22 12 2009...

... . parallel manipulators bifurcated motion maximally regular spatial motion branching constraint singularity end effectors Jacobian matrices 13 06 2009 20 11 2010 14 01 2011 14 01 2011 The limbs isolated from the parallel mechanisms in Figs. 5 6 have the following...

... Jacobian matrices developed by using screw theory and static equilibrium equations are similar. Forward and inverse kinematic solutions are given and solved, and the singularity map of the mechanism was generated. We then demonstrate and analyze three representative singular configurations of the mechanism...

... Jacobian matrices manifolds manipulator kinematics kinematic mapping constraints singularities configuration space generic properties 1 The central object in the study of mechanism singularities is the kinematic mapping f , which describes the relative configuration of two links...

... fasteners Jacobian matrices manipulator kinematics reciprocal Jacobian screw based Jacobian lower mobility parallel manipulator unique form of Jacobian The Jacobian matrix of a robotic manipulator, which relates the velocities (or forces) of actuators to the end effector velocities...

... synthesis of these two subsystems. 20 10 2009 27 03 2010 21 07 2010 21 07 2010 end effectors Jacobian matrices manipulator kinematics performance index Although various limited-degree-of-freedom (limited-DOF) parallel kinematic machines (PKMs) have attracted much...

... 2008 20 01 2009 bars couplings end effectors Jacobian matrices manipulator kinematics A manipulator is a mechanism designed to displace objects in space or in a plane. Therefore, high precision in the position and orientation of the end-effector and a good repeatability...

... are completely identical to those of the platform. Typical examples in this family are the well known Tricept ( 3 4 5 ), George V ( 6 ), and SKM 400 ( 7 ), among others ( 8 9 10 11 ). Jacobian matrices manipulator kinematics singular value decomposition 04 12 2007 16 06 2008 06...

... thereof, that encompass first and foremost parallel architectures. Kinetostatic conditioning is understood here in connection with the condition number of each of the two Jacobian matrices of the parallel robot under study. After a brief introduction on the geometry and the kinematics of two-limb parallel...