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Keywords: static analysis
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Journal Articles
Journal:
Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061004.
Paper No: JMR-22-1310
Published Online: January 17, 2023
... is applied to solve the kinematics which can conveniently depict the position and posture of each joint in the absolute coordinate frame. Six unknown variables can be solved with each equation of wrench that contains three forces and three torques. The kinematics and static analysis of the 3−UPU robot...
Journal Articles
Journal:
Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021014.
Paper No: JMR-21-1753
Published Online: June 23, 2022
... 2 a 5 = 15 + R ( 29 + 16 R ) − 32 r ( 1 + 2 r ) − 32 H 2 a 6 = − 2 ( 3 + R ( 7 + 4 R − 8 r ) − 4 r ) Static analysis is an essential part of mechanism analysis. It is not only the basis of dynamics and stiffness but also...
Journal Articles
Journal:
Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2014, 6(2): 021006.
Paper No: JMR-13-1080
Published Online: March 4, 2014
... significantly increase of the usable workspace due to motor force limits. We begin this paper by defining the type of compliant joints we will consider, and reviewing of the mathematical framework to study the static analysis of redundant parallel manipulators. In Sec. 3 , we define the relationship...
Journal Articles
Journal:
Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041018.
Paper No: JMR-13-1052
Published Online: October 10, 2013
... of singularities, here named “jamming singularity,” that jams the platform motion in some directions and that is also present in all the parallel manipulators with S P U limbs (e.g., Gough-Stewart platforms) where it can be considered a particular type of “leg singularity.” Moreover, the static analysis...