... dexterous manipulators inverse problems manipulator dynamics Pareto optimisation parallel manipulator Schönflies-motion optimization multiobjective Lower-mobility parallel manipulators ( 1 ) are closed-loop mechanisms with less than six degrees of freedom (DOFs), composed of a moving...

... of the manipulator. control system synthesis inverse problems manipulator kinematics 1 Lower mobility parallel manipulators ( 1 ) are close-loop mechanisms with less than six degrees-of-freedom (DOF), composed by an end-effector joined to a base element by several kinematic chains. This kind...

...Xianwen Kong; Clément M. Gosselin 29 04 2005 19 01 2006 manipulator kinematics inverse problems The author of ( 1 ) proposed a 3-URC translational parallel mechanism (TPM) and presented a comprehensive study on the kinematics of the 3-URC TPM. He concluded that “only one...

...Raffaele Di Gregorio 15 05 2005 10 09 2005 manipulator kinematics inverse problems Kong and Gosselin ( 1 ), with reference to what this author wrote in ( 2 ), disagree on the following two points: (i) the inverse position analysis (IPA) of the translational 3-URC has only...

... number based on the two-norm and that based on the Frobenius norm is provided, where it is shown that the use of the Frobenius norm is more suitable for design purposes. Formulation of the inverse problem—obtaining link lengths—and the direct problem—obtaining the characteristic length of a given...

... as 5 d d X ( H 3 d P d X ) = Λ x d H d X Herein, the aim of the inverse problem is to determine the slider shape that leads to the desired pressure distribution. First, Eq. 5 is integrated with respect to X to yield the following equation: 6 d...

... center is the same as the one of the platform spherical motion. The possibility of locating the actuated pairs on or near to the base of the PWs improves their dynamic behavior. end effectors manipulator dynamics Jacobian matrices inverse problems 01 April 2003 01 October 2003...

... manipulator. Contributed by the Mechanics and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received June 2001. Associate Editor: M. Raghavan. 01 June 2001 21 03 2003 manipulator kinematics algebra inverse problems Jacobian matrices...

...Raffaele Di Gregorio; Vincenzo Parenti-Castelli manipulator kinematics mechanical engineering position control inverse problems Finally, Prof. Angeles seems to criticize the expression “analytical form solution”. As regards this point, we have merely followed one of the conventions...

...Jorge Angeles manipulator kinematics mechanical engineering position control inverse problems The authors of the paper under discussion did an excellent job in formulating the problem in an invariant, i.e., coordinate-free, form. Now, while they discussed problem (c) in full detail...

.... 01 January 2000 flexible manipulators statics inverse problems elastic deformation In the design of conventional rigid-body mechanisms compliance is usually considered undesirable, since it introduces positional errors and vibrations. On the contrary, compliant mechanisms...

... by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received Jul. 1998; revised Dec. 1999. Associate Technical Editor: C. M. Gosselin. 01 Jul 1998 01 Dec 1999 industrial manipulators robot dynamics inverse problems classical mechanics matrix algebra...

... . Manuscript received July 1999. Associate Editor: C. W. Wampler II. 01 July 1999 manipulator kinematics mechanical engineering position control inverse problems In many technical applications spatial mechanisms with a number of degrees of freedom (dof) less than six are required...

... in the literature. This inverse problem is solved by extending the loop-closure equation used in the synthesis of rigid-links to the flexible segments, and then combining it with elastic equilibrium equation in an optimization scheme. The method is illustrated by a numerical example. The above set of non-linear...