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Keywords: screw theory
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121014.
Paper No: JMR-23-1569
Published Online: May 21, 2024
... established in detail using geometric method and screw theory. The coverage of the healthy ankle motion ability was formulated as an optimization problem to improve the robot's performance. Multi-objective optimal design was carried out to determine the dimensional parameters. The interference-free working...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054505.
Paper No: JMR-23-1738
Published Online: March 19, 2024
... transformation matrix. The analysis shows that the mechanism has six single-DOF motion modes, including a planar rhombus 4R mode, two overconstrained spatial 6R modes, and three coaxial 1R modes. The motion characteristics of the six motion modes are identified using screw theory. The six transition...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091003.
Paper No: JMR-23-1678
Published Online: February 1, 2024
... obotics . 31 10 2023 06 12 2023 06 12 2023 01 02 2024 variable stiffness joints kinetostatic analysis wrench-feasible workspace stiffness and stability analysis screw theory cable-driven mechanisms mechanisms and robots parallel mechanisms and robots Rigid...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051016.
Paper No: JMR-22-1420
Published Online: January 30, 2023
..., this paper analyzes the kinematics of the CSR based on the screw theory and extends it to any multi-branch configuration. Meanwhile, for the problem that it is difficult to obtain the inverse kinematic analytical solution of the multi-branch robot climbing mode with planar continuous three-parallel joints...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060914.
Paper No: JMR-21-1728
Published Online: September 12, 2022
... the switch configuration, in which one configuration has one rotational degree-of-freedom (DOF) and two translational DOFs, and the other configuration has two rotational DOFs and one translational DOF. First, the DOFs of the RPM in each configuration are analyzed using screw theory. Then, position modeling...
Journal Articles
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 031005.
Paper No: JMR-18-1332
Published Online: April 9, 2019
.... Drawing heavily on screw theory combined with structural dynamics, the kinetic and elastic potential energies of the parallel mechanism and of the wrist are formulated using the dual properties of twist/wrench systems and a static condensation technique. This results in a 9-DOF dynamic model that enables...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2015, 7(3): 031014.
Paper No: JMR-14-1086
Published Online: August 1, 2015
... and change the parameters of flexure mechanisms to achieve the desired DOF requirements of types initially. Compliant mechanisms Computational kinematics Screw theory A flexure mechanism [ 1 ] is a new system relying on its intrinsic elastic deformation to output all or part of motion, force...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2015, 7(3): 034504.
Paper No: JMR-14-1101
Published Online: August 1, 2015
... indices is proposed which can be employed for precisely representing the closeness to different types of singularities defined in twist space as well as for dimensional optimization. An example is given to illustrate the effectiveness of this approach. Dexterity metrics Screw theory Spatial...
Journal Articles
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2014, 6(4): 041016.
Paper No: JMR-13-1101
Published Online: August 18, 2014
... synthesis screw theory parallel mechanism Meanwhile, systematic study has been made on parallel mechanisms in the past two decades. The research areas of parallel mechanisms and single-loop overconstrained mechanisms are closely related. For example, the type synthesis of parallel mechanisms...
Journal Articles
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2014, 6(2): 021008.
Paper No: JMR-13-1107
Published Online: March 6, 2014
... , J. K. , and Hunt , K. H. , 2004 , Robots and Screw Theory: Applications of Kinematics and Statics to Robotics , Oxford University Press , New York. [20] Kong , X. , and Gosselin , C. , 2007 , Type Synthesis of Parallel Mechanisms , Springer , New York . [21] Dai , J. S...
Topics: Screws
Journal Articles
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041015.
Paper No: JMR-11-1105
Published Online: October 10, 2013
...-DOF Translational Parallel Manipulators Based on Screw Theory ,” ASME J. Mech. Des. , 126 ( 1 ), pp. 83 – 92 . 10.1115/1.1637662 [7] Jin , Q. , and Yang , T.-L. , 2004 , “ Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three-Dimension-Translation...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2012, 4(4): 041006.
Published Online: September 17, 2012
... approach screw theory In recent years, two or three DOF rotational parallel mechanisms and/or spherical parallel mechanisms (SPMs) are employed in a variety of applications. They are used as robot wrists, machining tool heads, shaking tables for simulators, pointing devices for mirrors and radar...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2012, 4(3): 034501.
Published Online: May 22, 2012
... is the number of the common constraints. For overconstrained parallel mechanisms, the common constraints and redundant constraints must be considered when their mobility is analyzed [( 23 )]. Hence, we analyze the mobility of this rolling 8U parallel mechanism using screw theory and Grübler-Kutzbach...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2012, 4(2): 021016.
Published Online: April 25, 2012
... 04 2012 screw theory kinematic derivatives kinematic differential equation algorithmic differentiation Lie product power-series expansion closed kinematic chain finite displacement inverse kinematics serial robot A network of rigid-body links in Euclidean 3-space is connected...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2011, 3(1): 014501.
Published Online: November 23, 2010
... , J. M. , Gallardo , J. , and Duffy , J. , 1999 , “ Screw Theory and Higher Order Kinematic Analysis of Open Serial and Closed Chains ,” Mech. Mach. Theory 0094-114X , 34 ( 4 ), pp. 559 – 586 . 10.1016/S0094-114X(98)00029-9 Karger , A. , 1996 , “ Singularity Analysis...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031004.
Published Online: July 14, 2010
... 07 2010 chains fasteners manipulators screw theory mobility platform manipulator constraint singularity Lie product Lie bracket twist vector motion screw exponential map Baker–Campbell–Hausdorff Extending the mobility analysis beyond second-order establishes conditions...