Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism
International Journal of Advanced Robotic Systems, 2016 A novel parallel mechanism of two translations and one rotation freedom degrees two-prismatic joint-cylindrical joint-one-cylindrical joint-prismatic joint-revolute joint (2PC-CPR) is proposed. The mechanism can be applied to write Chinese characters and
Sheng Lin +4 more
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A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback [PDF]
, 2006 The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular configuration.
Bennis, Fouad +3 more
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Kinematic analysis of the 3-RPR parallel manipulator [PDF]
, 2006 The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the singular configuration is characterized.
Bonev, Ilian +2 more
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A decentralized approach for the aerial manipulator robust trajectory tracking.
PLoS ONEThis paper introduces a new decentralized control strategy for an unmanned aerial manipulator (UAM) constrained to the vertical plane. The control strategy comprises two loops: the first compensates for the aerial vehicle's impact on the manipulator; and
Yarai Elizabeth Tlatelpa-Osorio +2 more
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Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation
Discrete Dynamics in Nature and Society, 2010 Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange ...
Mohammad Ali Badamchizadeh +2 more
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A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator [PDF]
Using a method based upon resolving joint velocities using reciprocal screw quantities, compact analytical expressions are generated for the inverse solution of the joint rates of a seven revolute (spherical-revolute-spherical) manipulator.
Fenton, R. G. +2 more
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Modeling and Control of the Automated Radiator Inspection Device [PDF]
, 1991 Many of the operations performed at the Kennedy Space Center (KSC) are dangerous and repetitive tasks which make them ideal candidates for robotic applications. For one specific application, KSC is currently in the process of designing and constructing a
Dawson, Darren
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Application of the ADAMS program to deployable space truss structures [PDF]
The need for a computer program to perform kinematic and dynamic analyses of large truss structures while deploying from a packaged configuration in space led to the evaluation of several existing programs. ADAMS (automatic dynamic analysis of mechanical
Calleson, R. E.
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Static analysis and design of revolute joint and antiparallelogram joint: a technical report
, 2020 This technical report details the derivation of the static models of two antagonistically actuated joints: revolute (R) joint and antiparallelogram (X) joint. The conditions for these joints to possess the specified wrench-feasible workspace with the prescribed stiffness are derived.
openaire +2 more sources
Jixie chuandong, 2001 This paper takes account of the boundary condition of elements of a joint with clearance when contact occur, by using the nonlinear spring damper formulation to model the resulting reaction force between the elements of clearance joint.
王国庆, 刘宏昭
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