Results 171 to 180 of about 2,061,051 (213)

A skew-axis design for a 4-joint revolute wrist

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2003
The 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
openaire   +1 more source

Parallel Robots with Lockable Revolute Joints

2019
This chapter describes a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by n \(\text {R}_\text {b}\)RPS serial chains, with ...
Patrick Grosch, Federico Thomas
openaire   +1 more source

Introducing revolute joints into piezoelectric energy harvesters

Energy, 2020
Abstract In this paper, we originally report an approach for cantilever piezoelectric energy harvesters (PEHs) for frequency tuning and performance improvement. The proposed scheme implements embedment of revolute joint(s) into PEH structure. We investigated two ways of embedment: the prior one is to replace the clamped edge partially with a joint ...
Zhongjie Li, Zhengbao Yang, Hani E. Naguib   +2 more
openaire   +2 more sources

Global Positioning of Robot Manipulators With Mixed Revolute and Prismatic Joints

IEEE Transactions on Automatic Control, 2006
The 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, Branko Novakovic, Dubravko Majetic, Danko Brezak   +3 more
openaire   +3 more sources

Experimental verification of dynamic behavior for multi-link press mechanism with 2D revolute joint considering dry friction clearances and lubricated clearances

Nonlinear dynamics, 2022
Xiulong Chen, Shun Gao, Tao Wang
semanticscholar   +1 more source

Linear strong structural controllability and observability of an n-link underactuated revolute planar robot with active intermediate joint or joints

at - Automatisierungstechnik, 2018
For an n-link underactuated revolute planar robot with all the links moving in the same vertical plane, this paper studies the linear strong structural controllability and observability of the robot with only an active intermediate joint or active ...
Xin Xin
semanticscholar   +1 more source

Contact Mechanics in Cylindrical Clearance Revolute Joints

Applied Mechanics and Materials, 2013
A 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, Jorge Ambrósio, Amilcar Ramalho   +2 more
openaire   +1 more source

Positional Workspace Boundary for Serial Manipulators with Revolute Joints

2012
We 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
openaire   +1 more source

Multi-objective Optimization of Mechanisms with Clearances in Revolute Joints

2014
Despite 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., Xu, L., Tay, Y.Y., Flores, Paulo, Lankarani, H.   +4 more
openaire   +2 more sources

Dynamics modeling and simulation of tracked armored vehicle with planar clearance trunnion-bearing revolute joint

Journal of Mechanical Science and Technology, 2021
Xunzhang Wang, X. Rui
semanticscholar   +1 more source