Results 151 to 160 of about 1,466 (183)
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Modeling 3D revolute joint with clearance and contact stiffness
Nonlinear Dynamics, 2011The clearances in the kinematic joints are due to deformations, wear, and manufacturing errors; the accurate modeling of these effects in multibody analysis is a complex issue but in many practical applications, it is mandatory to take into them into account in order to understand the actual behavior of mechanical systems.
BRUTTI, CARLO +2 more
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A skew-axis design for a 4-joint revolute wrist
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2003The design of a four-axis wrist with a skewed pitch axis is described. The skew-axis design increases the joint travel over traditional gimballed configurations while the excess degree of freedom can be used to avoid singularities. A generalized inverse kinematics procedure locally minimizes the joint velocities for a given tool orientation while ...
Craig R. Carignan, Russell D. Howard
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Positional Workspace Boundary for Serial Manipulators with Revolute Joints
2012We have recently shown that the boundary of the positional workspace for an nR serial manipulator with any pair of consecutive axes coplanar is made of circular arcs with an underlying combinatorial structure of interconnectivity. In the orthogonal case, the boundary is linear in size and can be computed efficiently with a polynomial time algorithm. In
Ciprian S. Borcea, Ileana Streinu
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Global Positioning of Robot Manipulators With Mixed Revolute and Prismatic Joints
IEEE Transactions on Automatic Control, 2006The existing controllers for robot manipulators with uncertain gravitational force can globally stabilize only robot manipulators with revolute joints. The main obstacles to the global stabilization of robot manipulators with mixed revolute and prismatic joints are unboundedness of the inertia matrix and the Jacobian of the gravity vector.
Josip Kasac +3 more
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A novel revolute joint of variable stiffness with reconfigurability
Mechanism and Machine Theory, 2019In this paper, a novel revolute joint of variable stiffness with reconfigurability (JVSR) is presented. The JVSR is designed with a compliant joint mechanism, and is able to vary widely its stiffness in multiple modes, namely, linear, hardening and softening modes. This brings the joint for many potential applications in novel transmission and robotics.
Li, Zhongyi; id_orcid 0000-0003-2250-7032 +1 more
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Contact Mechanics in Cylindrical Clearance Revolute Joints
Applied Mechanics and Materials, 2013A comparative study concerning the dynamics of chain drives mechanisms is presented in this article. The study compares the dynamic response using the spherical contact model proposed by Lankarani and Nikravesh with a new enhanced cylindrical model developed by the authors to describe the contact phenomenon in cylindrical clearance revolute joints.
Candida Pereira +2 more
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Multi-objective Optimization of Mechanisms with Clearances in Revolute Joints
2014Despite extensive work on the evaluation of the dynamic performances of various mechanisms and multi-body mechanical systems with revolute joint clearances, limited work has been conducted in optimizing the performances of these systems. A multi-objective optimization technique is presented to examine and to quantify the effect of combined objective ...
Zhang, Z. +4 more
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Axisymmetric General Shells and Jointed Shells of Revolution
Journal of Structural Engineering, 1992An iterative numerical method is presented for the analysis of axisymmetric, isotropic general shells with varying wall rigidity. Shell elements of special geometric shapes, e.g., cylindrical, spherical, and conical shells, are also considered. One-dimensional finite difference points are used to discretize the shell elements into strips along the ...
Pei Jianping, Issam E. Harik
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Modelling and Simulation of Clearance in the Revolute Joints of Linkages
2002Paper on CD, Vietri sul Mare ...
COLOMBO G. +2 more
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Kinematic Clearance Sensitivity Analysis of Spatial Structures With Revolute Joints (*)
Journal of Mechanical Design, 1999The paper presents a new method to assess the influence of joint clearances in spatial structures that are composed of links connected by revolute joints. The method allows assessment of the amount by which joint clearances affect the rigid-body position of a generic link of the structure when an external load is exerted on the link.
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