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Keywords: dexterous manipulators
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2011, 133(4): 041007.
Published Online: May 18, 2011
... engineering dexterous manipulators Pareto optimisation In contrast to anthropomorphic robots, parallel manipulators have better structural characteristics, better positioning accuracy, and great capacity to achieve higher accelerations. However, as is known, the size of their workspace is generally...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2010, 132(3): 031007.
Published Online: March 22, 2010
... of the compliant structures to compute the paths generated by these mechanisms, with the resulting optimal designs used to realize various manipulator configurations. 16 07 2009 31 01 2010 22 03 2010 22 03 2010 dexterous manipulators genetic algorithms geometry topology...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. February 2010, 132(2): 024502.
Published Online: January 20, 2010
... 01 2010 dexterous manipulators Underactuation in robotic hands seems a promising approach to grasping a variety of objects without a very complex mechanical system and control architecture ( 1 ). Underactuated hands have fewer actuators than degrees of freedom (DoF), and can therefore...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2009, 131(12): 121005.
Published Online: November 10, 2009
..., the forward kinematics degenerates is reduced to the solution of a cubic and a quadratic in sequence. 30 01 2009 05 10 2009 10 11 2009 10 11 2009 algebra dexterous manipulators manipulator kinematics position control sensitivity analysis Variations in the geometric...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2009, 131(3): 031002.
Published Online: January 26, 2009
..., one can realize that the two different goals of the optimization have two separate and opposite maxima. 31 01 2008 25 11 2008 26 01 2009 dexterous manipulators inverse problems manipulator dynamics Pareto optimisation parallel manipulator Schönflies-motion...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. February 2009, 131(2): 021009.
Published Online: January 21, 2009
... memory alloy shape optimization robotic finger design engineering dexterous manipulators optimisation shape memory effects 17 03 2008 24 10 2008 21 01 2009 Having established the contraction model for SMA wires in Sec. 2 , we present in Sec. 3A a mathematical...
Journal Articles
Publisher: ASME
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. dexterous manipulators Jacobian matrices manipulator kinematics 2 Higher...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. February 2008, 130(2): 022303.
Published Online: December 27, 2007
... 2007 27 12 2007 cartons dexterous manipulators industrial control industrial manipulators manipulator kinematics packaging Rapid expansion of robotics and automation technology in recent years has led to development of robots in packaging industry. Though pick and place robots...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2008, 130(1): 011008.
Published Online: December 7, 2007
... illustrate some of these attractive features with two types of compliant fingers, one for object handling and the other for snap-fit assembly applications. 27 07 2006 09 02 2007 07 12 2007 compliance control design engineering dexterous manipulators finite element analysis grippers...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2006, 128(4): 729–737.
Published Online: September 5, 2005
... Index for the Kinematic Optimization of Robotic Manipulators ,” ASME J. Mech. Des. 1050-0472 , 113 ( 3 ), pp. 220 – 226 . 28 01 2005 05 09 2005 manipulator kinematics dexterous manipulators design engineering parallel manipulators mechanism design kinematics...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2006, 128(2): 356–364.
Published Online: April 13, 2005
... design engineering dexterous manipulators mechanical contact couplings actuators Until now, the human hand remains unmatched despite numerous and interesting attempts to copy the latter. Pioneer designs include: the Utah/MIT hand ( 1 ), the Stanford/JPL (Salisbury’s) hand ( 2 ), the hands...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. June 2002, 124(2): 272–276.
Published Online: May 16, 2002
... Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received Apr. 2001. Associate Editor: M. Raghavan. 01 Apr 2001 16 05 2002 robots manipulator kinematics dexterous manipulators mechanical contact closed loop systems Structural Characteristics...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. June 2002, 124(2): 277–283.
Published Online: May 16, 2002
... in the JOURNAL OF MECHANICAL DESIGN . Manuscript received Jan. 2000. Associate Editor: G. S. Chirikjian. 01 Jan 2000 16 05 2002 dexterous manipulators controllers design engineering actuators haptic interfaces telecontrol A haptic interface often called a “master” is used...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. June 2002, 124(2): 265–271.
Published Online: May 16, 2002
...Changquing Li, Graduate Student; Christopher D. Rahn, Mem. ASME, Associate Professor Continuous backbone robots driven by cables have many potential applications in dexterous manipulation for manufacturing and space environments. Design of these robots requires specification of a stiff yet bendable...
Journal Articles
Publisher: ASME
Article Type: Design Innovation Brief
J. Mech. Des. September 2000, 122(3): 347–353.
Published Online: December 1, 1998
... and Stevenson 2 . Singularities of the wrist are a consequence of the singularities brought by the u-joint pointing subsystem within the wrist. robot kinematics dexterous manipulators industrial manipulators design engineering 01 Dec 1998 Contributed by the Mechanisms Committee...