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Keywords: workspace
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2020, 142(8): 083301.
Paper No: MD-19-1336
Published Online: February 14, 2020
...Xiaodong Jin; Yuefa Fang; Dan Zhang; Haiqiang Zhang Dexterous hands are an important end-effector of robots, but their relatively low carrying capacity, small workspace and poor task adaptability are the key factors that restrict their wide application. To overcome these shortcomings of dexterous...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2009, 131(10): 101009.
Published Online: September 16, 2009
... ′ R , H R , and R R mechanisms. 20 10 2007 03 08 2009 04 08 2009 16 09 2009 Gaussian distribution robot kinematics circular surface lines of curvature Euclidean invariants mechanisms kinematics differential geometry robotics workspace While mechanisms...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2008, 130(9): 092302.
Published Online: August 11, 2008
...Yi Lu; Yan Shi; Shi-Hua Li; Xing-Bin Tian This paper proposes a systematic methodology for dimension synthesis, kinematics, and statics of a novel 2 S P ̱ S + S P ̱ R + SP parallel manipulator with 3DOF. First, a workspace is varied and analyzed by varying the orientation of a revolute joint...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 236–242.
Published Online: September 5, 2005
...Erika Ottaviano; Manfred Husty; Marco Ceccarelli In this paper an algebraic formulation is presented for the boundary workspace of 3-R manipulators in Cartesian Space. It is shown that the cross-section boundary curve can be described by a 16th order polynomial as function of radial and axial...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2006, 128(4): 729–737.
Published Online: September 5, 2005
... are performed and the singular and isotropic configurations are identified afterward. Moreover, the mechanism design to eliminate all singularities and generate an isotropic manipulator has been presented. With the variation on architectural parameters, the reachable workspace of the manipulator is generated...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2006, 128(2): 365–373.
Published Online: July 8, 2005
... the desired workspace and the good-conditioning workspace. The design methodology discussed in this paper has no process to establish the objective function and does not involve any optimization algorithm, which is normally used in traditional optimization. We expect that since each manipulator...