... of the 2003 International Conference on Physics and Control , Vol. 4 , Issue No. 20–22 , pp. 1096 – 1101 . 14 11 2008 06 05 2009 20 07 2009 design engineering eigenvalues and eigenfunctions Jacobian matrices rotors stability systems engineering robust eigenvalue design...

... redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation. 12 06 2007 22 08 2008 08 10 2008 Jacobian matrices patient rehabilitation robot dynamics robot kinematics The use of robots...

... of constrained wrench of these PKMs are analyzed, and the poses of the active/constrained forces are determined. Second, based on the principle of virtue work and the determined active/constrained forces, the formulas are derived for solving the 6 × 6 Jacobian matrices of these PKMs and the stiffness matrices...

..., the Jacobian matrices of the manipulators are derived, and different types of singularities are analyzed and demonstrated. It is shown that the vast majority of singularities can be avoided by using kinematic redundancy. For the 3 - PR ̱ RR ▵ and the 3 - PR ̱ RR ★...

... , K. , 2003 , “ Optimal Kinematic Design of Spatial Parallel Manipulators: Application to Linear Delta Robot ,” ASME J. Mech. Des. 1050-0472 10.1115/1.1563632 , 125 ( 2 ), pp. 292 – 301 . blades design engineering gas turbines Jacobian matrices machine tools manipulator...

... is determined according to the performance atlases, and some examples are presented. 06 12 2006 11 05 2007 19 03 2008 design engineering Jacobian matrices robot kinematics It is well known that parallel mechanisms (PMs) exhibit advantageous characteristics such as higher...

.... 05 08 2006 15 11 2006 Hessian matrices Jacobian matrices manipulator kinematics structural engineering torque In a parallel manipulator with n SPS-type active legs and one constrained leg in various serial structures, the passive constrained leg may be composed of some...

... (Fig. 5d ). 22 03 2006 03 11 2006 force control geometry Jacobian matrices manipulator kinematics parallel manipulator kinematics driving force serial mechanism Some parallel manipulators with three to six DOFs have been utilized for many practical applications...

... pose, each joint coordinate has two solutions, yielding eight different solutions for the complete mechanism, as mentioned in ( 1 ). These eight working modes are kinematically different ( 5 ). The velocity equations and the Jacobian matrices of this manipulator have been obtained in ( 1 ). One...

... Jacobian matrices kinematic influence coefficient lower-mobility parallel mechanism Jacobian Hessian Among these mechanisms, there is a class of mechanisms whose number of single-DoF kinematic pairs in every kinematic limb equals the DoF of the mechanism ( N ) , such as 3...

... and the approach presented apply to a large class of single-loop overconstrained linkages. The criterion is reformulated, in terms of the well-known Jacobian matrices, for exceptional linkages and extended to linkages with partitioned mobility and trivial linkages. Several examples are included. 10 05 2005...

... the deflection of the platform under an external wrench. This leads to the following study of the Jacobian matrices before revelation of the platform compliance matrix. Consider the platform stiffness is isotropic, it follows that J 1 f 1 = J 2 f 2 = J...

... design engineering Jacobian matrices inverse problems In spite of the enormous progress made in the area of robot kinematics since the eighties, a broadly acceptable methodology for the determination of the parameters defining the fundamental geometry —a concept that will be given a precise...

... ,” ASME J. Mech. Des. 1050-0472 10.1115/1.1462621 , 124 ( 4 ), p. 347 . 17 02 2005 24 07 2005 CAD manipulator kinematics Jacobian matrices mechanical engineering computing CAD variation geometry spatial parallel manipulator simulation mechanism A spatial...

...).” 19 05 2005 20 06 2005 Jacobian matrices design engineering robots We will use a relatively general definition of parallel robots, focusing on nonredundant mechanisms. A parallel robot is defined as a mechanism having at least two kinematics chains connecting the base...

...Haidong Li; Clément M. Gosselin; Marc J. Richard; Boris Mayer St-Onge The determination of the 6D singularity locus of the general Gough-Stewart platform is discussed in this article. The derivation of the velocity equation and the corresponding Jacobian matrices is first presented. Then a new...

... DESIGN . Manuscript received November 7, 2003; revised April 30, 2004. Associate Editor: M. Raghavan. 07 November 2003 30 April 2004 02 03 2005 Jacobian matrices robot kinematics optimisation calibration Recently, there is increasing interest in developing parallel...

.... Mavroidis. 26 March 2003 20 April 2004 02 03 2005 manipulators bifurcation Jacobian matrices position control uncertainty handling The configuration bifurcations of Stewart parallel manipulators at singular positions induce the uncertainty of the moving trends...

..., 2003; revision received April 23, 2004. Associate Editor: D. Kazmer. 22 December 2003 23 April 2004 02 03 2005 manipulators tolerance analysis Jacobian matrices optimisation sensitivity analysis stability Every engineering design is subject to variations that can...

... robot manipulators have higher stiffness and motion accuracy than serial manipulators due to the in-parallel application of the branches on the mobile platform. manipulators actuators failure analysis Jacobian matrices 14 July 2003 25 February 2004 14 02 2005...