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Compliant gripper design, prototyping, and modeling using screw theory formulation
Int. J. Robotics Res., 2020This article investigates some aspects related to the design, modeling, prototyping, and testing of soft–rigid tendon-driven grippers. As a case study, we present the design and development of a two-finger soft gripper and exploit it as an example to ...
I. Hussain +6 more
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Journal of Mechanical Design, 1981
It is shown that, if one considers the “total freedom” of instantaneous motion, three distinct types of screw systems arise. Of these only the ones which maintain the kinematic constraints—the so-called reciprocal screw systems—have been studied before. This paper introduces and studies the two new types, which we name “repelling” and “contrary” screws.
M. S. Ohwovoriole, B. Roth
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It is shown that, if one considers the “total freedom” of instantaneous motion, three distinct types of screw systems arise. Of these only the ones which maintain the kinematic constraints—the so-called reciprocal screw systems—have been studied before. This paper introduces and studies the two new types, which we name “repelling” and “contrary” screws.
M. S. Ohwovoriole, B. Roth
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Screw Theory in Lorentzian Space
Advances in Applied Clifford Algebras, 2018zbMATH Open Web Interface contents unavailable due to conflicting licenses.
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Journal of Mechanisms and Robotics
In this paper, a novel Selective Compliance Assembly Robot Arm (SCARA) high-speed parallel manipulator that can realize three-translations and one-rotation motion is proposed, and an accurate dynamic modeling methodology is investigated.
Dong Liang +4 more
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In this paper, a novel Selective Compliance Assembly Robot Arm (SCARA) high-speed parallel manipulator that can realize three-translations and one-rotation motion is proposed, and an accurate dynamic modeling methodology is investigated.
Dong Liang +4 more
semanticscholar +1 more source
Screw Theory and Helicoidal Fields
Volume 1B: 25th Biennial Mechanisms Conference, 1998Abstract Chevallier [1991] regarded a screw as the geometric representation of a “helicoidal” field: i.e. a vector field with helicoidal properties. In this contribution, this identification is employed to develop a formal approach to systematically define “reduced acceleration state” and “reduced jerk state”.
Jaime Gallardo A., José María Rico M.
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A Screw Theory-Based Semi-Analytical Approach for Elastodynamics of the Tricept Robot
Journal of Mechanisms and Robotics, 2019Taking the well-known Tricept robot as an example, this paper presents a semi-analytical approach for elastodynamic modeling of five or six degrees of freedom (DOF) hybrid robots composed of a 3-DOF parallel mechanism plus a 2- or 3-DOF wrist.
C. Dong +3 more
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A screw theory approach to compute instantaneous rotation axes of indeterminate spherical linkages
Mechanics based design of structures and machines, 2020This paper presents a screw theory approach for the computation of the instantaneous rotation axes of indeterminate spherical linkages. Since the last part of the XIX century, the determination of the instantaneous rotation, or velocity, centers of ...
Juan Ignacio Valderrama-Rodríguez +2 more
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2004
Abstract Robots and Screw Theory describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed in the book are used in the control of robots and in the design of their major moving parts.
Joseph K Davidson, Kenneth H Hunt
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Abstract Robots and Screw Theory describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed in the book are used in the control of robots and in the design of their major moving parts.
Joseph K Davidson, Kenneth H Hunt
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2012
Screw theory is a powerful mathematical tool for the analysis of spatial mechanisms. A screw consists of two three-dimensional vectors. A screw can be used to denote the position and orientation of a spatial vector, the linear velocity and angular velocity of a rigid body, or a force and a couple, respectively.
Zhen Huang, Qinchuan Li, Huafeng Ding
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Screw theory is a powerful mathematical tool for the analysis of spatial mechanisms. A screw consists of two three-dimensional vectors. A screw can be used to denote the position and orientation of a spatial vector, the linear velocity and angular velocity of a rigid body, or a force and a couple, respectively.
Zhen Huang, Qinchuan Li, Huafeng Ding
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Plasticating single‐screw extrusion theory
Polymer Engineering & Science, 1971AbstractVarious solid conveying, melting, and metering theories developed for plasticating screw extrusions are reviewed. Some recommendations for improving the present melting theories are presented. It is pointed out that the overall performance of a screw extruder can be predicted only by combining the solid‐conveying, melting and metering theories ...
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