..., this paper analyzes the kinematics of the CSR based on the screw theory and extends it to any multi-branch configuration. Meanwhile, for the problem that it is difficult to obtain the inverse kinematic analytical solution of the multi-branch robot climbing mode with planar continuous three-parallel joints...

... the switch configuration, in which one configuration has one rotational degree-of-freedom (DOF) and two translational DOFs, and the other configuration has two rotational DOFs and one translational DOF. First, the DOFs of the RPM in each configuration are analyzed using screw theory. Then, position modeling...

.... Drawing heavily on screw theory combined with structural dynamics, the kinetic and elastic potential energies of the parallel mechanism and of the wrist are formulated using the dual properties of twist/wrench systems and a static condensation technique. This results in a 9-DOF dynamic model that enables...

.... , 2004 , “ The Qualitative Synthesis of Parallel Manipulators ,” ASME J. Mech. Des. , 126 ( 4 ), pp. 617 – 624 . 10.1115/1.1667955 [4] Kong , X. , and Gosselin , C. M. , 2004 , “ Type Synthesis of 3T1R 4-DOF Parallel Manipulators Based on Screw Theory ,” IEEE Trans. Rob. Autom. , 20...

.... Compliant mechanisms Computational kinematics Screw theory A flexure mechanism [ 1 ] is a new system relying on its intrinsic elastic deformation to output all or part of motion, force, or energy. Compared with traditional rigid-body mechanisms, flexure mechanisms offer many compelling...

... as for dimensional optimization. An example is given to illustrate the effectiveness of this approach. Dexterity metrics Screw theory Spatial mechanisms Finding suitably effective indices is crucial to singularity analysis and the dimensional optimization of linkages as well as of robotic...

... synthesis of translational parallel mechanisms based on screw theory (see Ref. [ 16 ], for example) provide a solid starting point to solve the above problem. In a plano-spherical mechanism (Fig. 2( a ) ), three adjacent R joints (6, 1, and 2) have parallel axes while the axes of the other three R...

... of a number of three-legged parallel manipulators. parallel mechanism screw theory singularity reciprocal screws Singularity analysis [ 1–4 ] is an important issue in the context of design and control of PMs. One type of singularity is called static singularity [ 2 ], 3 in which the moving...

.... , and Gosselin , C. M. , 2004 , “ Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Screw Theory ,” ASME J. Mech. Des. , 126 ( 1 ), pp. 83 – 92 . 10.1115/1.1637662 [7] Jin , Q. , and Yang , T.-L. , 2004 , “ Theory for Topology Synthesis of Parallel Manipulators and Its...

... approach screw theory In recent years, two or three DOF rotational parallel mechanisms and/or spherical parallel mechanisms (SPMs) are employed in a variety of applications. They are used as robot wrists, machining tool heads, shaking tables for simulators, pointing devices for mirrors and radar...

... be considered when their mobility is analyzed [( 23 )]. Hence, we analyze the mobility of this rolling 8U parallel mechanism using screw theory and Grübler-Kutzbach criterion [( 24 )] 1 M = d ( n - g - 1 ) + ∑ i = 1 g f i + ν where M denotes the mobility of the mechanism...

... 04 2012 screw theory kinematic derivatives kinematic differential equation algorithmic differentiation Lie product power-series expansion closed kinematic chain finite displacement inverse kinematics serial robot A network of rigid-body links in Euclidean 3-space is connected...

... fasteners screw theory kinematic time derivative kinematic differential equation curvature theory Euler–Savary relation four-bar linkage Taylor series tilt train The new procedure is motivated by planar curvature theory ( 13 14 15 16 ), which establishes that (1) a point on a rigid...

... 2008 23 12 2009 14 07 2010 14 07 2010 chains fasteners manipulators screw theory mobility platform manipulator constraint singularity Lie product Lie bracket twist vector motion screw exponential map Baker–Campbell–Hausdorff An important class of parallel...