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The maximum reach of revolute jointed manipulators
Mechanism and Machine Theory, 1981Abstract The maximum reach of a manipulator consisting of 3 or more revolute joints is achieved when the line connecting the hand to the base is made to intersect all the intermediate joint axes. By a one to one mapping, the working volume can be generated.
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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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Bounded error interpolates for manipulators with prismatic and revolute joints
Proceedings, 1989 International Conference on Robotics and Automation, 2003An algorithm for interpolating workspace trajectories in the joint space of a manipulator having revolute and prismatic joints is described. This algorithm relies on bounds on the derivatives of the kinematic map of such a manipulator derived by the authors (ibid., vol.3, p.1744-9).
Greg Heinzinger, Brad E. Paden
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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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Parallel Robots with Lockable Revolute Joints
2019This 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
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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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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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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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