Results 91 to 100 of about 138 (121)
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The Generalized Jacobian Matrix and the Manipulators Kinetostatic Properties
ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 2010Manipulator kinetostatic performances are usually investigated considering only the geometrical structure of the robot, neglecting the effect of the drive system. In some circumstances this approach may leads to errors and mistakes. This may happen if the actuators are not identical to each other or when the employed transmission ratio are not ...
GIBERTI, HERMES +2 more
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Parallel kinematic machine design with kinetostatic model
Robotica, 2002In this paper, a new method – named lumped kinetostatic modeling – to analyze the effect of the link flexibility on the mechanism's stiffness is provided. A new type of mechanism whose degree of freedom (dof) is dependent on a passive constraining leg connecting the base and the platform is introduced and analyzed. With the proposed kinetostatic model,
Dan Zhang, Clément M. Gosselin
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Kinetostatic Synthesis of Coupled Serial Chains
Volume 1A: 25th Biennial Mechanisms Conference, 1998Abstract Single Degree-of-freedom Coupled Serial Chain (SDCSC) mechanisms are a novel class of modular and compact mechanisms with single degree-of-freedom actuation and control. In this paper, the kinetostatic synthesis of SDCSC mechanisms is addressed.
Venkat Krovi +2 more
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A Kinetostatic Model for Concentric Push–Pull Robots
IEEE Transactions on RoboticsConcentric push-pull robots (CPPR) operate through the mechanical interactions of concentrically nested, laser-cut tubes with offset stiffness centers. The distal tips of the tubes are attached to each other, and relative displacement of the tube bases generates bending in the CPPR.
Jake A. Childs, Caleb Rucker
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Kinetostatic Behaviour of the Prismatic Pair With Clearance
Dynamic Systems and Control, 2001Abstract In order to make mechanisms work the presence of clearance in kinematic pairs may be unavoidable. As a major consequence position and orientation errors of the output link occur when loads are applied to the mechanism. This paper focusses on the effect of clearance on the dislocation of the pairing elements of the prismatic pair.
V. Parenti-Castelli, S. Venanzi
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Design and Kinetostatic Analysis of a Legged Robot for Asteroid Exploration
2021Legged robots have a broad prospect in the field of asteroid exploration. It is a great challenge to make the legged robot move steadily on the asteroid. In this paper, a rigid-flexible coupling gripper based on the legged robot is proposed to anchor the robot on the surface of asteroids.
Qingpeng Wen +4 more
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Kinetostatics and Optimal Design of a 2PRPU Shoenflies-Motion Generator
2017Schoenflies-motion generators (SMGs) are 4-degrees-of-freedom (dof) manipulators whose end effector can perform translations along three independent directions and rotations around one fixed direction (Schoenflies motions). The authors, in a previous paper, showed that a 2PRPU SMG has a simple position analysis and singularities that leave a wide free ...
Simas, H., Di Gregorio, R.
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Kinetostatic Analysis of an Articulated Walking Mechanism
2011The mathematical model for kinetostatic analysis of Jansen’s type walking mechanism is presented in this paper. This mechanism will be implemented in the structure of a walking robot. Simulation results from CAD programs are also presented for validation of the mathematical model and for analyzing the 3D model of the mechanism.
F. Moldovan, V. Dolga, C. Pop
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The Kinetostatic Design of a Schönflies-Motion Generator
2002The kinetostatic design of a four-degree-of-freedom manipulator of the SCARA type, i.e., a Schonflies-motion generator, is reported here. The optimum design is obtained by means of kinetostatic isotropy, which thus leads to robustness against measurement and round-off errors. It is shown that a kinetostatically isotropic design is possible.
K. Al-Widyan, J. Angeles
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Kinetostatic design of asymmetric notch joints for surgical robots
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016We present a kinetostatic model for a needle-sized notched tube continuum joint design, and examine the impact that the design parameters have on both stiffness and joint kinematics. The joint is fabricated by removing a series of asymmetric notches from a metal tube.
Kyle W. Eastwood +5 more
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