... charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified. 14 08 2009 10 01 2010 11 03 2010 11 03 2010 design end effectors manipulator kinematics power transmission (mechanical) Compared with serial robots...

...Richard Phillip Mohamed; Fengfeng (Jeff) Xi; Allan Daniel Finistauri In this paper, the structural design of modular reconfigurable robots (MRRs) is studied. This problem is defined as the determination of proper module sizes according to the robot’s payload and end-effector deflection...

...Jian Meng; Dongjun Zhang; Zexiang Li Due to joint clearance, a parallel manipulator’s end-effector exhibits position and orientation (or collectively referred to as pose) errors of various degrees. This paper aims to provide a systematic study of the error analysis problem for a general parallel...

...Alan P. Bowling; Oussama Khatib This paper presents methodologies for the analysis and design of redundant manipulators, especially macro-/ministructures, for improved dynamic performance. Herein, the dynamic performance of a redundant manipulator is characterized by the end-effector inertial...

... including weight optimization and proper component selection. Moreover, the simulation enabled us to define motor torque requirements and maximize end-effector payload capacity for different robot configurations. Visualization of the mobile robot on different types of virtual terrains such as flat roads...

..., an improved version of that paper was published in ASME Journal of Mechanical Design ( 3 ). Both papers present the inverse displacement solution of the manipulator where the lengths of the active prismatic joints are obtained as a function of the pose of the end effector. The pose is defined by three...

... kinematics and inverse kinematics. It can also be used to verify the trajectories described in either Cartesian or joint coordinate systems. Users can change a PKM configuration by specifying the joint parameters for forward kinematics, and the posture of the end-effector for inverse kinematics. The tool...

... required torque at actuators and maximum reachable workspace, with the simultaneous fulfillment of design constraints, such as satisfactory mechanical stiffness at the end effector, global kinematic isotropy over the workspace, and limited bulk of the device. A geometric interpretation of singularities...

... system for a particular configuration and reference point on the end effector (i.e., point design). Here the DCE are used in conjunction with a reliability-based design optimization (RBDO) strategy in order to obtain designs with robust dynamic performance with respect to the end-effector reference point...

..., some physical interpretations are given. 23 06 2004 09 02 2006 manipulator dynamics end effectors reactionless dynamic balancing dynamic equivalence mobile platform parallel mechanisms A parallel mechanism is defined as a mechanism that guides the motion of its end...

...Alan P. Bowling; ChangHwan Kim This article explores the effect that velocities have on a nonredundant robotic manipulator’s ability to accelerate its end-effector, as well as to apply forces/moments to the environment at the end-effector. This work considers velocity forces, including Coriolis...

... on the location of its end-effector. On the other hand, a differential vector method is used to study the influence of the length and angular variations in the parts of the manipulator on the position and orientation of its end-effector. Besides, this method takes into account the variations in the parallelograms...

... are defined and the dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator will be able to place its end-effector at these three prespecified locations. In this problem, six of the design parameters are set as free choices and their values are selected arbitrarily...

...R. Vertechy; V. Parenti-Castelli The paper presents an algorithm for the real-time evaluation of the actual end-effector orientation of general parallel spherical wrists. Conceptually, the method relies on evidence that the pose of a rigid body is defined once the location of at least two linearly...

...-degree-of-freedom systems, such SDCSC-configuration manipulators need to be designed specific to a given task. In this paper, we investigate the development of a synthesis scheme, leveraging tools from Fourier analysis and optimization, to permit the end-effectors of such manipulators to closely...

... of the workspace is performed and an analytical method for the determination of the boundaries of an x - y two-dimensional subset is proposed. The new notion of dynamic workspace is defined, as its shape depends on the accelerations of the end-effector. We demonstrate that any subset of the workspace can...

... legged locomotion manipulator kinematics end effectors Kinematics Position Analysis Parallel Mechanisms Parallel Structure This paper is a combined version of two papers (DETC2004-57036 and DETC2004-57037) presented at the ASME 2004 Design Engineering Technical Conferences...

...Raffaele Di Gregorio Orientating a rigid body without changing its position is required in many technical applications. This manipulation task is accomplished by manipulators (spherical manipulators) that are just able to make the end effector move according to controlled spherical motions...

... and the dimensions of the geometric parameters of the 3-R manipulator are computed so that the manipulator will be able to place its end-effector at these pre-specified locations. Denavit and Hartenberg parameters and 4 × 4 homogeneous matrices are used to formulate the problem and obtain the design equations...

... in an effective manner using the singular value decomposition. These parameters include the moment of inertia, speed, torque, and power of the motor required for producing the specified velocity and acceleration of the end effector. An example is given to determine these parameters of a device...