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Keywords: parallel manipulator
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Proceedings Papers

Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A018, September 13–16, 1998
Paper No: DETC98/MECH-5952
...Abstract Abstract A singular 6-SPS parallel manipulator is a 6-SPS parallel manipulator with architecture singularities spanning over the whole workspace. It should be abandoned in the design process. This paper presents a component method for generation of singular 6-SPS parallel manipulators...
Topics: Manipulators
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 119-124, September 10–13, 2000
Paper No: DETC2000/MECH-14061
..., and the three-dimensional distribution of the axes of all the twists is illustrated. Finally, a numerical example is given successfully. parallel manipulator kinematics principal screw imaginary mechanism Proceedings of DETC'OO ASME 2000 Design Engineering Technical Conferences Baltimore, Maryland...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 365-374, September 10–13, 2000
Paper No: DETC2000/MECH-14088
...Abstract Abstract This paper presents a new integrated configurational design system that allows for the feasible and optimum placement of the workspace of an adjustable planar parallel manipulator, relative to a specified machine toolpath. The basic design of the manipulator...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 473-481, September 10–13, 2000
Paper No: DETC2000/MECH-14105
...Abstract Abstract The complexity of the forward displacement analysis (FDA) of 6-SPS parallel manipulators 1 varies to a great extent with the change of their geometric parameters. This paper presents a classification of the 6-SPS parallel manipulators according to their components. At first...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 511-516, September 10–13, 2000
Paper No: DETC2000/MECH-14100
...Abstract Abstract In this paper singularity analysis and workspace of a 3DOF parallel manipulator with new architecture are studied. Singular configurations of the manipulator at hand are analysed first. To this end, upon differentiating the kinematic constraint equations of the manipulator...
Topics: Manipulators
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 411-418, September 10–13, 2000
Paper No: DETC2000/MECH-14093
... application to a generally constrained planar parallel manipulator. The method has been implemented in a practical, interactive computer code that has been used to determine convex and non-convex workspaces of different parallel manipulators of arbitrary geometry. parallel manipulator workspace...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 517-522, September 10–13, 2000
Paper No: DETC2000/MECH-14101
...Abstract Abstract To enrich the type of three-DOF parallel mechanisms, a novel 3-RRC platform mechanism model is presented in this paper. The upper platform of this 3-DOF parallel manipulator can realize three-dimension translations without any rotations. The solutions are developed for both...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 419-426, September 10–13, 2000
Paper No: DETC2000/MECH-14094
...Abstract Abstract A uniqueness domain is a part of the Cartesian workspace corresponding to the same assembly mode of the 3-RPR (planar parallel) manipulator. This paper presents an efficient method to determine the uniqueness domains of the 3-RPR manipulators with similar platforms. The method...
Proceedings Papers

Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A047, August 4–7, 2013
Paper No: DETC2013-12575
... Parallel manipulator Kinematically redundant parallel manipulator Type synthesis Virtual-chain approach Screw theory A kinematically redundant parallel manipulator (PM) is a PM whose degrees-of-freedom (DOF) are greater than the DOF of the moving platform. It has been revealed...
Proceedings Papers

Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 319-327, August 15–18, 2010
Paper No: DETC2010-29153
... uncertainties. The simulation and experimental results revealed that the proposed method is robust against uncertainties and its simplicity makes the approach attractive for industrial applications. Robust control chattering-free sliding mode parallel manipulator cable-driven 1 Copyright © 2010...
Proceedings Papers

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 1237-1244, August 30–September 2, 2009
Paper No: DETC2009-87260
... 30 07 2010 A method to calculate the volume of constant-orientation taskspace of parallel manipulators is developed and applied on the 6-RSS mechanism as an example. The taskspace is defined as a singularity-free reachable workspace. Quasi-singularity measure is used to measure...
Proceedings Papers

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 979-986, August 30–September 2, 2009
Paper No: DETC2009-86408
... 30 07 2010 It will be shown how to generate under-actuated manipulators by substituting non-holonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in fully-parallel manipulators (FPMs). Through this pair substitution, an under-actuated manipulator, previously...
Proceedings Papers

Proc. ASME. IDETC-CIE2009, Volume 5: 35th Design Automation Conference, Parts A and B, 815-826, August 30–September 2, 2009
Paper No: DETC2009-86259
... function networks are implemented to search for the optimal architecture and behavior parameters in terms of global stiffness, dexterity and manipulability. Compliant manipulator parallel manipulator finite element method kinematic optimization 1 Copyright © 2009 by ASME Proceedings...
Proceedings Papers

Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1495-1504, August 3–6, 2008
Paper No: DETC2008-49906
... to multiple sub-phase configurations. Evolution design illustrations are given to demonstrate the concept and principles. metamorphic mechanism parallel manipulator reconfiguration biological module spatial metamorphic cell spatial gene genome genetic evolution displacement Lie subgroup...
Proceedings Papers

Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1121-1130, August 3–6, 2008
Paper No: DETC2008-49112
.... Redundancy is a means to deal with singularities of PKM. The different types of singular configurations are considered in the paper, and the potential of redundancy to cope with such situations is discussed. Again singularities are considered from a geometric point of view. Parallel manipulator...
Proceedings Papers

Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 973-981, August 3–6, 2008
Paper No: DETC2008-49113
... the standard control schemes leads to parasitic perturbation forces that can not be compensated by the controls. An amended version of these control scheme is proposed that does not suffer from such effects. Parallel manipulator redundant actuation inverse dynamics control prestress backlash...
Proceedings Papers

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1283-1288, September 4–7, 2007
Paper No: DETC2007-35265
... characteristic in the vicinity of the singular points. The parallel manipulator with a higher control precision will obtain fewer degree-of-freedoms and its configuration is easy to be controlled in the vicinity of the singular point. This investigation has potential applications in selecting joints’ clearance...
Proceedings Papers

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 839-845, September 4–7, 2007
Paper No: DETC2007-34308
... 22 05 2009 A novel CAD geometric variation approach for solving active-passive forces of some parallel manipulators with SPR-type active legs is proposed. First, some methodical formulae for solving the active/constrained force matrix and active/constrained forces are derived. Second...
Proceedings Papers

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1119-1123, September 4–7, 2007
Paper No: DETC2007-35260
... 22 05 2009 Type-II singularities exist in parallel manipulators commonly. At this kind of singularities, the end-effector is locally movable and uncertain even when all the actuate joints are located. In order to explore a possible approach to obtain the concrete output of the mobile...
Proceedings Papers

Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 881-885, September 29–October 2, 2002
Paper No: DETC2002/MECH-34303
... 18 06 2008 From the first ideas of parallel manipulator proposed by Gough and Stewart, parallel manipulators have been found in many industrial applications. In the past two decades, a number of interesting mechanical devices and design methods have been extensively studied. However...