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Keywords: screw theory
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Journal Articles
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. December 2023, 145(12): 125001.
Paper No: MD-23-1340
Published Online: August 29, 2023
... of screw theory [ 41 – 43 ]. One set of shapes, called freedom spaces, represent all the ways a compliant system could freely deform (i.e., the linear combination of its DOFs). They consist of red lines that represent rotations, green lines that represent screws, and black arrows that represent...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2021, 143(5): 053303.
Paper No: MD-20-1474
Published Online: November 17, 2020
... 09 2020 17 11 2020 conceptual design parallel manipulators robot kinematics wrist mechanism screw theory Lots of mechanisms with rotational degrees-of-freedom (DOFs) have been developed for many applications such as robot wrists, solar trackers, surgical robots, and camera...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2010, 132(4): 041001.
Published Online: March 30, 2010
...: a single-loop mechanism has two chains. Loop closure is achieved when the joint parameters for each chain result in a common pose of the platform. Recent papers ( 1 2 3 4 5 ) apply a linear analysis procedure derived from screw theory to overcome the limitations of the Grübler–Kutzbach...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2007, 129(6): 595–601.
Published Online: June 13, 2006
... configurations: ( a ) 3- R ́ ́ ( RRR ) E R ́ ́ , and ( b ) 3-Ŕ R ́ ́ R ̀ Ř R ́ ́ 09 02 2006 13 06 2006 robot dynamics parallel mechanism parallel mechanism with multiple operation modes type synthesis screw theory...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 220–229.
Published Online: October 14, 2004
... the results. 17 06 2004 14 10 2004 manipulators fasteners mobility overconstraint parallel mechanisms platform screw systems screw theory set-theoretic motion constraint redundancy freedom reciprocal The study of parallel mechanisms dates back to 1897 when Bricard ( 1...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. January 2004, 126(1): 101–108.
Published Online: March 11, 2004
...Xianwen Kong; Cle´ment M. Gosselin A spherical parallel manipulator (SPM) refers to a 3-DOF (degree-of-freedom) parallel manipulator generating 3-DOF spherical motion. A method is proposed for the type synthesis of SPMs based on screw theory. The wrench systems of a spherical parallel kinematic...