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Keywords: parallel mechanism
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2023, 145(5): 053303.
Paper No: MD-22-1551
Published Online: February 10, 2023
...Zhen Wu; Qinchuan Li; Wei Ye This article presents a new family of kinematically redundant parallel mechanisms (KR-PMs) with two rotations and one translation (2R1T) based on the Lie group method. Compared with the 2-UPR/RPU PM, these PMs have two main advantages, namely, larger reachable...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2020, 142(1): 012302.
Paper No: MD-19-1011
Published Online: October 3, 2019
...Chen Zhao; Ziming Chen; Yanwen Li; Zhen Huang In this paper, a novel 3-UPU (P and U stand for prismatic and universal joints, respectively) parallel mechanism (PM) and its variant PM are proposed. Both of them have two rotational and one translational (2R1T) degrees of freedom (DOFs) without...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2011, 133(5): 051001.
Published Online: June 2, 2011
... the reconfigurable limbs. The paper further presents a mobility-change condition to construct a metamorphic mechanism with the reconfigurable limbs. This gives a family of metamorphic parallel mechanisms that have the facility to change mobility in the range of 3– 6. A further family of metamorphic parallel...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2009, 131(1): 011009.
Published Online: December 15, 2008
... and Future Research Directions for Parallel Mechanisms and Manipulators . Furuta , K. , Yamakita , M. , and Sato , A. , 1991 , “ Suppressing Vibration of Robot Arm Using Frequency-Dependent LQ Method ,” Proceedings of the International Conference IECON’91 , Vol. 1 , pp. 443 – 448...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2008, 130(6): 062302.
Published Online: April 14, 2008
... of Input-Output Decoupled Parallel Manipulators ,” Trans. Can. Soc. Mech. Eng. 0315-8977 , 28 ( 2A ), pp. 185 – 196 . Carricato , M. , 2005 , “ Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion ,” Int. J. Robot. Res. 0278-3649 10.1177/0278364905053688...
Topics: Manipulators
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. May 2008, 130(5): 054501.
Published Online: March 26, 2008
... of motions that lead to this result are presented. 10 01 2007 16 08 2007 26 03 2008 mobile robots robot kinematics wheels kinematic singularity actuation strategy powered caster wheels parallel mechanism omnidirectional motion Mobile platforms capable...
Topics: Wheels
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2007, 129(6): 595–601.
Published Online: June 13, 2006
...Xianwen Kong; Clément M. Gosselin; Pierre-Luc Richard There are usually several motion patterns having the same degrees of freedom (DOF). For example, planar motion, spherical motion, and spatial translation are motion patterns with 3 DOF. An f -DOF parallel mechanism with multiple operation modes...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2007, 129(4): 390–396.
Published Online: April 11, 2006
.... For such an N -DoF ( N < 6 ) mechanism, this method can build a square ( N × N ) Jacobian matrix and cubic ( N × N × N ) Hessian matrix. The formulas in this method for different parallel mechanisms have unified forms and consequently the method is convenient for programming. The more complicated...