...Qimi Jiang; Clément M. Gosselin The maximal singularity-free workspace of parallel mechanisms is a desirable criterion in robot design. However, for a 6DOF parallel mechanism, it is very difficult to find an analytic method to determine the maximal singularity-free workspace around a prescribed...

...Zhao Jing; Li Qian The joint velocity jump for redundant robots in the presence of locked-joint failures is discussed in this paper. First, the analytical formula of the optimal joint velocity with minimum jump is derived, and its specific expressions for both all joint failure and certain single...

...Zhe Jin; Q. J. Ge This paper deals with the problem of synthesizing piecewise rational motions of an object that satisfies kinematic constraints imposed by a planar robot arm with revolute joints. This paper brings together the kinematics of planar robot arms and the recently developed freeform...

...Psang Dain Lin; Jung-Fa Hsieh One of the most popular mathematical tools in the fields of robotics and mechanisms is the Denavit-Hartenberg (DH) notation (Denavit and Hartenberg, 1955, J. Appl. Mech., 77, pp. 215–221) . It is valid only for mechanisms containing prismatic, revolute, helical...

...Clément M. Gosselin This paper aims at developing a general framework for the use of the concept of adaptive mechanical system in the design of advanced robotic devices. The concept of adaptive mechanical system is first formalized. A design methodology is then proposed in order to formulate...

...J. P. Merlet Although the concepts of Jacobian matrix, manipulability, and condition number have existed since the very early beginning of robotics their real significance is not always well understood. In this paper we revisit these concepts for parallel robots as accuracy indices in view...

... in California to provide driver assistance for snowplow operators in harsh winter environments. Installation of these magnetic markers into the roadway pavement is a tedious manual operation. In this paper, we present a novel design of a robotic system developed for installation of these magnetic markers...

...Meng Li; Tian Huang; Derek G. Chetwynd; S. Jack Hu This paper deals with the forward position analysis of a 3-DOF parallel mechanism module, which forms the main body of a 5-DOF reconfigurable hybrid robot named TriVariant. The TriVariant is a modified version of the Tricept robot, achieved...

.... This result is of interest for the design of new manipulators. Contributed by the Mechanics and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received October 21, 2003; revised May 11, 2004. Associate Editor: C. Mavroidis. 21 October 2003 11 May 2004...

...Gordon R. Pennock, Awards Chair 14 02 2005 mechanical engineering robots At the Mechanisms and Robotics Awards Luncheon, held on Wednesday September 29, 2004, Dr. John J. Uicker, Jr., Professor of Mechanical Engineering, University of Wisconsin–Madison, received the 2004...

... examples are solved using the three formulations and the corresponding results are compared: a planar mechanism which goes through a singular position, a car suspension with stiff behavior, a 6-dof robot with changing configurations, and the full model of a car vehicle. Furthermore, the last example...

.... For the optimal design, it is shown that by introducing joint limits, the global isotropy of the parallel platforms is improved at the cost of workspace reduction. 1 Two-arm reconfigurable robot with 3-DOF parallel platform modules The 3-DOF translational parallel platform that is studied...

... of the ruled surface, p (ψ) is the position vector of the generatrix and e is a unit vector parallel to the line producing the surface. Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received October 2000; revised March 2002...

...J. Dargahi, Assistant Professor This paper reports on design, fabrication and testing of a prototype Polyvinylidene Fluoride (PVDF) tactile sensor for endoscopic and robotic applications. The sensor can measure both compliance and surface roughness. It consists of rigid and compliant elements...

... kinematic structures of multi-fingered hands having a mobility number ranging from 3 to 6 and contact degrees of freedom ranging from 1 to 5 is developed. Further, two theorems concerning the structural characteristics of mechanical hands are presented. Contributed by the Mechanisms and Robotics...

...Shiang-Fong Chen, Assistant Professor; Jiansong Deng, Research Associate This technical brief presents a refined slabbing method, originally used for free-flying robots, for finding efficient paths for nonholonomic robots. Our method takes kinematic constraints and reversal maneuvers into account...