... – 483 . 10.1145/235815.235821 03 12 2010 26 03 2011 27 09 2011 27 09 2011 angular velocity end effectors force manipulator dynamics torque manipulability robot manipulators joint torque-velocity relationship Manipulability is a well known concept...

... the favorable force distribution, i.e., the wrench applied on the end-effector by the legs and external efforts must be reciprocal to the twist along with the direction of the uncontrollable motion. The previous studies have proposed the optimal control conditions for the manipulators with rigid links...

...Alba Perez-Gracia The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not provide with the knowledge about the trajectory between task...

... and can move in the presence of manufacturing errors. Moreover, related families of IPG- X s are also deducted by using the reordering or the commutation of the factor method, which yields more 5D subsets of displacements containing also the X -motion of the end effector. In that way, several novel...

... this paper is to formalize a new design methodology for cable-driven devices. Based on a total or partial decoupling between cable disposition and end-effector pose, this methodology allows us to achieve well-tailored design solutions for a given design requirement. The resulting systems are here defined...

... uncoupled motions. parallel manipulators bifurcated motion maximally regular spatial motion branching constraint singularity Parallel manipulators (PMs) are composed of an end effector (moving platform) connected to the base (fixed platform) by at least two kinematic chains called limbs...

...Feng Gao; Jialun Yang; Qiaode Jeffrey Ge With the introduction of generalized function sets ( G F set) to represent the characteristics of the end-effectors of parallel mechanisms, two classes of G F sets are proposed. The type synthesis of parallel mechanisms having the second class G F sets...

... parallelogram linkages are used to produce pure translations at the end-effector is also presented. Finally, using dynamic simulation software, it is shown that the mechanism is reactionless for arbitrarily chosen trajectories and for a variety of payloads. 08 05 2009 10 08 2010 30 09 2010 30...

... probability of mechanical interferences between the moving parts of the mechanism. In this paper, the phenomenon is described under the assumption that a cable is a line segment in space. When a mechanical contact occurs between two cables or between a cable and an edge of the end effector, these entities...

... that an algorithm based on a classical curve, called the tractrix, leads to a more “natural” motion of the hyper-redundant robot with the displacements diminishing from the end-effector to the fixed base. In addition, since the actuators nearer the base “see” a greater inertia due to the links farther away, smaller...

...Tao Sun; Yimin Song; Yonggang Li; Jun Zhang A novel 5-axis hybrid reconfigurable robot named Tricept-IV, including one 4-degree-of-freedom (4DOF) hybrid module and one 2DOF end effector, is investigated. Compared with extensive research that has been pursued for the parallel kinematic machines...

... singularities, have been studied. It was shown that any parallel manipulator can pass through the singular positions without perturbation of motion if the wrench applied on the end-effector by the legs and external efforts of the manipulator are orthogonal to the twist along the direction of the uncontrollable...

... micromechanism made using a carbon nanotube-based fabrication process, and a polycrystalline silicon micromechanism. Design parameterss (see Figs. 3 5 ) Parameter Device A Device B Device C Device D End-effector E 2.4 × 10 9   Pa 2.4 × 10 9   Pa...

... arrays corresponding to the isomorphic TGs and invalid TGs are determined by compiled programs. Finally, many valid TGs of planar 3DOF PMs with various basic links are derived from valid arrays. 10 12 2008 23 07 2009 12 11 2009 end effectors manipulator kinematics type...

...Marco Carricato This paper presents novel 2DOF and 3DOF closed-chain orientational manipulators, whose end-effector motion is actuated in a decoupled and homokinetic way by frame-located motors via holonomic transmissions based on constant-velocity couplings. The functioning of these couplings...

... rotational joints. Indeed, balancing of parallel mechanisms with translational actuators, which are among the most common ones, has been traditionally thought possible only by resorting to additional legs containing no prismatic joints between the base and the end-effector. This paper presents the conceptual...

...Cyril Quennouelle; Clément Gosselin In this paper, the mobility, the kinematic constraints, the pose of the end-effector, and the static constraints that lead to the kinematostatic model of a compliant parallel mechanism are introduced. A formulation is then provided for its instantaneous variation...

.... Patent No. 5,762,390 . Dubey , V. N. , and Crowder , R. M. , 2002 , “ A Finger Mechanism for Adaptive End Effectors ,” Proceedings of 2002 ASME Design Engineering Technical Conferences , Montreal, Canada, Sept. 29–Oct. 2. Ulrich , N. T. , 1988 , “ Grasping With Mechanical...

...Júlia Borràs; Raffaele Di Gregorio The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint variables corresponds to considering...

...Jean-François Gauthier; Jorge Angeles; Scott B. Nokleby; Alexei Morozov This paper introduces a study on the kinetostatic conditioning of two-limb Schönflies motion generators. These are robots capable of producing the motions undergone by the end-effector of what is known as selective-compliance...