... 26 09 2011 26 09 2011 manipulator kinematics There are two popular structures for link interconnections, serial, and (fully) parallel, with the resulting mechanism being referred to, respectively, as a serial kinematics machine (SKM) and a parallel kinematics machine (PKM...

... loop systems manipulator kinematics open loop systems tendon-driven cable actuated spherical joint visual servoing parallel mechanism joint miniaturization Spherical joints have become an integral component in robotic applications, often comprising both the wrist and the shoulder...

... couplings design engineering human-robot interaction manipulator kinematics 31 05 2010 26 04 2011 19 07 2011 19 07 2011 2011 American Society of Mechanical Engineers ...

... ,” ASME J. Mech. Des. 0161-8458 , 122 ( 1 ), pp. 17 – 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...

... ] A [ ( HHH ) u ( HH ) w ] - ∥ - [ ( HHH ) v ( HH ) w ] IPG- X with two X - X limbs end effectors manipulator kinematics What is called a primitive generator of a particular motion type is an open chain obtained...

... as adaptive cable-driven systems. Two simple design problems are presented and solved with both the traditional and the novel approaches, and the advantages of the latter are emphasized by comparing the resulting design solutions. cables (mechanical) design engineering end effectors manipulator...

... 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...

.... robot wrist rotation sequence spherical triangle spherical linkage parallel mechanism Clemens linkage constant-velocity coupling couplings manipulator kinematics 19 03 2009 22 12 2010 10 02 2011 10 02 2011 2011 American Society of Mechanical Engineers ...

... Equation 24 represents the actual input space, which guarantees that the LAQSPM works in the same assembly mode by using the associated formula to solve the unique current solution to the FDA (Sec. 4 ). 19 07 2010 15 11 2010 06 01 2011 06 01 2011 manipulator kinematics...

... velocity, ω i T δ i = 0 is not always satisfied. Hence, the solutions of dynamics analyses of PMs become approximate. This must impose difficulty on the control and analysis of kinematics/dynamics of PMs. parallel manipulator kinematics dynamics angular velocity...

.... Finally, we generate the singularity-free workspace of the mechanism. 30 05 2010 22 09 2010 30 11 2010 30 11 2010 geometry Jacobian matrices manipulator kinematics parallel mechanism architecture screw based singularity 3RRRS Parallel manipulators have many...

... 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...

.... , 2006 , “ Mobility of Overconstrained Parallel Mechanisms ,” ASME J. Mech. Des. 0161-8458 , 128 ( 1 ), pp. 220 – 229 . 10.1115/1.1901708 04 03 2010 25 09 2010 23 11 2010 23 11 2010 end effectors manipulator dynamics manipulator kinematics rotation set theory...

..., where feature points are restricted to certain lines. There are yet more possible applications of these ideas in artificial intelligence and assembly planning, see, for example, Ref. 2 . algebra elasticity manipulator kinematics shear modulus 04 03 2010 22 07 2010 30 09...

..., in this paper, we will present a formula that produces a unique current solution to the FDA of the Agile Eye for a given set of inputs. 31 05 2009 12 05 2010 30 08 2010 30 08 2010 manipulator kinematics parallel mechanism quadratic parallel mechanism spherical parallel...

... 14 05 2009 09 03 2010 27 07 2010 27 07 2010 algebra 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...

... 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...

... active DOFs, same as the primary manipulator. This also suggests that the auxiliary linkage does not add additional motion constraints to the original kinematic chain. 05 01 2010 29 04 2010 21 06 2010 21 06 2010 gravity manipulator kinematics motion control springs...

... is represented in Fig. 8 . Interpolation process for obtaining the DKP solutions 21 04 2009 08 02 2010 21 06 2010 21 06 2010 manipulator kinematics A serious difficulty in the design of parallel manipulators is their reduced practical workspace due mainly...