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Keywords: Jacobian matrices
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Journal Articles
Article Type: Research Papers
J. Mech. Des. August 2009, 131(8): 081007.
Published Online: July 20, 2009
... parameters will be maximized to meet the specified robustness requirement for the dynamic response. Finally a simulation example will show the effectiveness of the approach. 14 11 2008 06 05 2009 20 07 2009 design engineering eigenvalues and eigenfunctions Jacobian matrices...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. December 2008, 130(12): 124501.
Published Online: October 8, 2008
... redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation. 12 06 2007 22 08 2008 08 10 2008 Jacobian matrices patient rehabilitation robot dynamics robot kinematics The use of robots...
Journal Articles
Article Type: Research Papers
J. Mech. Des. October 2008, 130(10): 102307.
Published Online: September 11, 2008
... of constrained wrench of these PKMs are analyzed, and the poses of the active/constrained forces are determined. Second, based on the principle of virtue work and the determined active/constrained forces, the formulas are derived for solving the 6 × 6 Jacobian matrices of these PKMs and the stiffness matrices...
Journal Articles
Article Type: Research Papers
J. Mech. Des. June 2008, 130(6): 062306.
Published Online: April 15, 2008
..., the Jacobian matrices of the manipulators are derived, and different types of singularities are analyzed and demonstrated. It is shown that the vast majority of singularities can be avoided by using kinematic redundancy. Mohamed , M. G. , and Duffy , J. , 1985 , “ Direct Determination...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. May 2008, 130(5): 054503.
Published Online: March 26, 2008
... turbines Jacobian matrices machine tools manipulator kinematics In the past, most research focused on the nonredundant parallel manipulator. However, these manipulators have smaller workspace, lower dexterity, and more singular configurations ( 1 2 3 ). Moreover, singularities make the limited...
Journal Articles
Article Type: Research Papers
J. Mech. Des. April 2008, 130(4): 042307.
Published Online: March 19, 2008
... Algorith ,” Mech. Mach. Theory 0094-114X , 41 , pp. 827 – 837 . Pond , G. , and Carretero , J. A. , 2006 , “ Formulating Jacobian Matrices for the Dexterity Analysis of Parallel Manipulators ,” Mech. Mach. Theory 0094-114X 10.1016/j.mechmachtheory.2006.01.003 , 41 , pp. 1505...
Journal Articles
Article Type: Research Papers
J. Mech. Des. November 2007, 129(11): 1161–1169.
Published Online: November 15, 2006
.... 05 08 2006 15 11 2006 Hessian matrices Jacobian matrices manipulator kinematics structural engineering torque parallel manipulator constrained leg kinematics Jacobian matrix Hessian matrix Some parallel manipulators with 3–6 degree of freedoms (DOFS) have been used...
Journal Articles
Article Type: Research Papers
J. Mech. Des. November 2007, 129(11): 1153–1160.
Published Online: November 3, 2006
... . 22 03 2006 03 11 2006 force control geometry Jacobian matrices manipulator kinematics parallel manipulator kinematics driving force serial mechanism Some parallel manipulators with three to six DOFs have been utilized for many practical applications ( 1 2...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. June 2007, 129(6): 649–652.
Published Online: June 5, 2006
... the application of the proposed approach. 10 11 2005 05 06 2006 manipulator kinematics Jacobian matrices Although parallel mechanisms have several advantages over serial architectures, their design is more complex due to their kinematics. In particular, the determination...
Journal Articles
Article Type: Research Papers
J. Mech. Des. April 2007, 129(4): 390–396.
Published Online: April 11, 2006
... Jacobian matrices kinematic influence coefficient lower-mobility parallel mechanism Jacobian Hessian According to the number of degrees of freedom (DoF), parallel mechanisms (PMs) can be classified into three classes: lower-mobility PM ( DoF < 6 ) , 6-DoF PM, and redundant...
Journal Articles
Article Type: Research Papers
J. Mech. Des. March 2007, 129(3): 301–311.
Published Online: March 10, 2006
... and the approach presented apply to a large class of single-loop overconstrained linkages. The criterion is reformulated, in terms of the well-known Jacobian matrices, for exceptional linkages and extended to linkages with partitioned mobility and trivial linkages. Several examples are included. 10 05 2005...
Journal Articles
Article Type: Research Papers
J. Mech. Des. July 2006, 128(4): 755–764.
Published Online: September 11, 2005
... , 210 ( C1 ), pp. 15 – 22 . 22 12 2004 11 09 2005 industrial manipulators assembling Jacobian matrices springs (mechanical) eigenvalues and eigenfunctions design engineering compliance analysis platform leaf-spring adjoint transformation eigencompliances...
Journal Articles
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 168–178.
Published Online: August 19, 2005
... 2005 19 08 2005 manipulator kinematics design engineering Jacobian matrices inverse problems In spite of the enormous progress made in the area of robot kinematics since the eighties, a broadly acceptable methodology for the determination of the parameters defining...
Topics: Manipulators
Journal Articles
Article Type: Research Papers
J. Mech. Des. May 2006, 128(3): 574–580.
Published Online: July 24, 2005
..., and is not only fairly quick and straightforward, but also advantageous from a viewpoint of accuracy, repeatability, and visualization. CAD manipulator kinematics Jacobian matrices mechanical engineering computing CAD variation geometry spatial parallel manipulator simulation mechanism...
Journal Articles
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 199–206.
Published Online: June 20, 2005
... is even less justified. For example, Krut et al. ( 54 ) exhibits a redundant robot whose kinematic behavior is the same than a serial Cartesian X-Y table, but whose condition number is not 1. 19 05 2005 20 06 2005 Jacobian matrices design engineering robots We will use...
Journal Articles
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 279–287.
Published Online: April 27, 2005
...Haidong Li; Clément M. Gosselin; Marc J. Richard; Boris Mayer St-Onge The determination of the 6D singularity locus of the general Gough-Stewart platform is discussed in this article. The derivation of the velocity equation and the corresponding Jacobian matrices is first presented. Then a new...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. January 2005, 127(1): 70–77.
Published Online: March 2, 2005
... Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received March 26, 2003; revised April 20, 2004. Associate Editor: C. Mavroidis. 26 March 2003 20 April 2004 02 03 2005 manipulators bifurcation Jacobian matrices position control uncertainty handling...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. January 2005, 127(1): 86–94.
Published Online: March 2, 2005
... . Manuscript received December 22, 2003; revision received April 23, 2004. Associate Editor: D. Kazmer. 22 December 2003 23 April 2004 02 03 2005 manipulators tolerance analysis Jacobian matrices optimisation sensitivity analysis stability Every engineering design...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. January 2005, 127(1): 62–69.
Published Online: March 2, 2005
... Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received November 7, 2003; revised April 30, 2004. Associate Editor: M. Raghavan. 07 November 2003 30 April 2004 02 03 2005 Jacobian matrices robot kinematics optimisation calibration Recently...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. November 2004, 126(6): 959–968.
Published Online: February 14, 2005
... for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received July 14, 2003; revised February 25, 2004. Associate Editor: M. Raghavan. 14 July 2003 25 February 2004 14 02 2005 manipulators actuators failure analysis Jacobian matrices Parallel robots, unlike serial...