... and alignment of the reference frames employed (case of q 2,sing ), the kinematic singularities will depend on the mathematical model computed from the reference frames distribution. This last singularity type bounded to the reference frame distribution and mathematical modeling of the robot kinematics...

...: lakmal.seneviratne@ku.ac.ae Email: yahya.zweiri@ku.ac.ae Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 02 11 2022 26 01 2023 27 01 2023 08 03 2023 flying robots robot design robot kinematics...

... on the design of such a mechanical system are demonstrated by means of several benchmark examples. 12 06 2009 29 06 2011 26 09 2011 26 09 2011 actuators kinematics robot kinematics wheels kinematics parallel manipulator omnidirectional wheels The kinematics...

...J. Michael McCarthy 06 11 2010 12 11 2010 04 05 2011 04 05 2011 cables (mechanical) control system analysis control system synthesis polynomials robot kinematics As we move into the second decade of the 21st century, we can identify three research trends...

.... , and Ravani , B. , 2002 , “ Group Theory Can Explain the Mobility of Paradoxical Linkages ,” Advances in Robot Kinematics , J. Lenarcic and F. Thomas , eds., Kluwer Academic , The Netherlands , pp. 245 – 254 . Rico , J. M. , and Ravani , B. , 2005 , “ Mobility Determination...

... 03 2011 11 04 2011 11 04 2011 geometry optimal control performance index robot kinematics The issue of optimal robot design is regularly discussed in scientific literature. Numerous papers have been written on this subject presenting different points of view depending...

... Synthesis of Mechanisms With Variable Topologies ,” Mech. Mach. Theory 0094-114X , 44 ( 5 ), pp. 896 – 911 . 10.1016/j.mechmachtheory.2008.06.006 Wohlhart , K. , 1996 , “ Kinematotropic Linkages ,” Recent Advances in Robot Kinematics , Kluwer Academic Publishers , Norwell, MA , pp. 359...

... Planar metamorphic mechanism: state 3 18 12 2009 24 11 2010 10 02 2011 10 02 2011 matrix algebra robot kinematics Reconfigurable mechanisms, such as mechanisms with variable topologies (MVTs) ( 1 2 3 4 5 ) and metamorphic mechanisms ( 6 7 8 ), are used...

... stiffness-related features of machines and robots in their regular configurations. 29 01 2009 09 01 2011 10 02 2011 10 02 2011 elastic constants robot kinematics machine kinetostatics robot configurations stiffness matrix stiffness evaluation stiffness limitation...

...J. Michael McCarthy 06 11 2010 10 11 2010 10 01 2011 10 01 2011 polynomials robot kinematics As we move into the adolescent years of the 21st century, allow me to discuss where research in mechanisms and robotics has been as a prelude to considering where...

... Point of View to Define the Distance Between Two Rigid-Body Poses ,” Proceedings of the 11th International Symposium on Advances in Robot Kinematics (ARK) . Ravani , B. , and Roth , B. , 1983 , “ Motion Synthesis Using Kinematic Mappings ,” ASME J. Mech., Transm., Autom. Des. 0738-0666...

... in the synthesis of RRSS, SSRC, and 4R spherical motion generators to approximate prescribed coupler poses and do so within maximum specified driver torques for given coupler forces. robot dynamics robot kinematics torque In motion generation , the objective is to calculate the mechanism parameters...

... robots inspection legged locomotion permanent magnets position control robot kinematics steel In this paper, an alternative approach to periodic bridge inspections will be presented. Since the robot is designed to act as a mobile sensor that lives on the bridge structure, reducing power...

... 05 2009 07 01 2010 14 07 2010 14 07 2010 robot kinematics singularity Cardanic self-motion parallel robot 1 Most parallel robots have singularities that limit their workspace. The less harmful ones occur when one leg is at a singularity or, in other words, when...

...-mail: ruggiu@dimeca.unica.it 19 02 2009 15 01 2010 14 07 2010 14 07 2010 robot dynamics robot kinematics The final goal of this work is to develop a mechanism suitable for scanning spherically shaped items. The major requirement is, therefore...

... 26 04 2010 charge-coupled devices elasticity force sensors image sensors microrobots robot kinematics sensitivity analysis The real advantages of a high precision microrobot or manipulation system can only be utilized if the automated system also has high resolution sensors...

... Homotopy Code for Solving Polynomial Systems of Equations ,” ACM Trans. Math. Softw. 0098-3500 , 32 , pp. 561 – 579 . 10.1145/1186785.1186789 19 03 2009 07 12 2009 13 04 2010 13 04 2010 robot kinematics Parallel mechanisms have been receiving more attention...

... of the externally loaded continuum robots is proposed. The simulation results show that either the tip orientation or the tip position can be successfully restored. 07 11 2008 14 07 2009 24 11 2009 bending robot kinematics Continuum robots (a term coined in Ref. 1 ) have been...

... or normalized quantity q . motion control path planning robot kinematics 27 12 2008 18 07 2009 19 11 2009 To verify the invariance of v 2 we have to look at how Eq. 23 changes if v is replaced by v ⋆ with v ⋆ − v = u × ω...

... 04 09 2008 08 08 2009 12 11 2009 robot kinematics Gough–Stewart platform singularity-free workspace orientation optimization Parallel mechanisms possess significant advantages over serial mechanisms in terms of dynamic properties, load-carrying capacity, high...