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Keywords: kinematics
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Proceedings Papers

Proc. ASME. DETC99, Volume 2: 19th Computers and Information in Engineering Conference, 1037-1044, September 12–16, 1999
Paper No: DETC99/CIE-9067
...Proceedings of the 1999 ASME Design Engineering Technical Conferences: September 12-15,1999, Las Vegas, Nevada DETC99/CIE-9067 TEACHING GLOBAL AND MODULAR KINEMATICS WITH A HYPERMEDIA SUPPORT Carlo Galletti DIMEC - University of Genoa Via Opera Pia 15-A 16145 Genova, ITALY Email: carlo...
Proceedings Papers

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1427-1438, September 12–16, 1999
Paper No: DETC99/DAC-8650
... kinematics planar mechanisms circuits assembly configurations single-degree-of-freedom multi-degree-of-freedom automatic method Abstract This paper examines the problem of identifying the assembly configurations (ACs), also called circuits, of planar non-single-input-dyadic (NSID...
Proceedings Papers

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 315-326, September 12–16, 1999
Paper No: DETC99/DAC-8671
...Proceedings of DETC99: 1999 ASME Design Engineering Technical Conferences September 12-15,1999, Las Vegas, Nevada DETC99/DAC-8671 KINEMATIC ABSTRACTIONS FOR GENERAL MANIPULATOR CONTROL Chetan Kapoor and Delbert Tesar . Robotics Research Group, The University of Texas at Austin JJPRC/MERB 1.206...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 147-156, September 10–13, 2000
Paper No: DETC2000/MECH-14065
...@ecn.purdue.edu Keywords: kinematics, cables, pulleys, tendon-driven manipulators, cable-suspended robots, cable-suspended haptic interfaces ABSTRACT In this paper a systematic way of representing complex cable-pulley mechanism configurations and a method to analyze and synthesize the motion of these cable-pulley...
Topics: Cables, Pulleys
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 119-124, September 10–13, 2000
Paper No: DETC2000/MECH-14061
...Proceedings of DETC'OO ASME 2000 Design Engineering Technical Conferences Baltimore, Maryland, September 10-13, 2000 DETC2000/MECH-14061 KINEMATICS OF 3-DOF PYRAMID MANIPULATOR BY PRINCIPAL SCREWS Zhen Huang Jing Wang Robotics Research Center, Yanshan University, Robotics Research Center, Yanshan...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 15-25, September 10–13, 2000
Paper No: DETC2000/MECH-14050
... variations in which an R joint is replaced with a P or H joint, or an S joint is replaced with an E joint. A numerical method is given to find the ACs, and is illustrated with several examples. Keywords: Kinematics, Spatial Mechanisms, Circuits, Assembly Configurations 1. INTRODUCTION An assembly...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 177-184, September 10–13, 2000
Paper No: DETC2000/MECH-14068
... parameters. Only two of the six roots of the polynomial are real and they correspond to two different robot manipulators that can reach the desired end-effector poses. KEYWORDS Robot Manipulators, Geometric Design, Kinematics 1. INTRODUCTION Designers of robotic systems are often caught in a dilemma whether...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 27-38, September 10–13, 2000
Paper No: DETC2000/MECH-14051
... examples. Keywords: Kinematics, Spatial Mechanisms, Circuits, Assembly Configurations INTRODUCTION An assembly configuration (AC), or a circuit, of a mechanism is a set of contiguous positions that the mechanism can assume without disassembly. If one must disassemble the mechanism to get from one position...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 39-48, September 10–13, 2000
Paper No: DETC2000/MECH-14052
...Proceedings of DETC'OO ASME 2000 Design Engineering Technical Conferences and Computers and Information in Engineering Conference Baltimore, Maryland, September 10-13,2000 DETC2000/MECH-14052 ASSEMBLY CONFIGURATIONS OF PLANAR MULTI-LOOP MECHANISMS WITH KINEMATIC LIMITATIONS David E. Foster and...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 681-688, September 10–13, 2000
Paper No: DETC2000/MECH-14124
... CMAC neural networks gait transition models walking machine kinematics Abstract The gait transition models of a quadruped are studied based on gait kinematics and CMAC neural networks are applied to learn and generalize these gait transition models. Three gait transition cases are...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 689-694, September 10–13, 2000
Paper No: DETC2000/MECH-14130
... spherical linkage kinematics manipulator path planning scanning laser sensor Abstract The design of a novel scanning apparatus used for digitizing dental impression molds is presented. The apparatus consists of a four-degree-of-freedom hybrid spherical linkage capable of moving the...
Proceedings Papers

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A063, August 17–19, 2020
Paper No: DETC2020-22053
... four-cable pseudostatics positive cable tensions kinematics singularities stiffness CABLE SUSPENDED ROBOT FOR ALGAE HARVESTING Robert L. Williams II, Ph.D. Mechanical Engineering Department Ohio University Athens, Ohio, USA williar4@ohio.edu Jesus Pagan, Ph.D. Engineering Technology Department...
Proceedings Papers

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1439-1448, August 12–15, 2012
Paper No: DETC2012-70642
... Humanoid biped robots are typically complex in design, having numerous degrees-of-freedom (DOF) due to the ambitious goal of mimicking the human gait. This paper presents the forward kinematics and dynamics of a new sixteen DOF humanoid biped robot. The synthesis of the kinematic chains is based...
Proceedings Papers

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 535-540, August 12–15, 2012
Paper No: DETC2012-70693
... optimized the dimensions of the mechanism of the positioner, and carried out the kinematic and dynamic analysis of the positioner. The strength and the rigidity of the positioner are analyzed by the use of FEM. Finally, according to fuzzy mathematical theory, the reliability of the mechanism motion of the...
Proceedings Papers

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 947-953, August 30–September 2, 2009
Paper No: DETC2009-86162
... CAD variation geometry parallel robot kinematics Euler angles A CAD variation geometry approach is proposed for accurately solving the position-orientation, linear velocity/acceleration, and Euler angular velocity/angular acceleration of a symmetrical 3-dof 3-UPU parallel robot. Based...
Proceedings Papers

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 457-465, September 4–7, 2007
Paper No: DETC2007-34621
... 22 05 2009 In this paper the generic DOF of mechanisms is investigated. This is the DOF of almost all mechanisms, that can be built from a given set of kinematic pairs in a certain arrangement, but with arbitrary link geometry. In particular, this is the most likely DOF in the presence...
Proceedings Papers

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1183-1193, September 4–7, 2007
Paper No: DETC2007-35516
... closed form solutions for the inverse kinematics problem. The differential kinematical analysis is developed by deriving the Jacobian matrix through screw theory and the singularities are identified with workspace analysis. The paper ends with isotropic configuration analysis and illustrates the...
Proceedings Papers

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 399-407, September 4–7, 2007
Paper No: DETC2007-34422
... 22 05 2009 This paper deals with the design of steering mechanisms in road vehicles. With this aim, the kinematic models of three types of steering linkages are considered and Ackermann steering geometry is used to define the objective function. The proposed method uses a dimensional...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 4: 24th Computers and Information in Engineering Conference, 653-659, September 28–October 2, 2004
Paper No: DETC2004-57717
..., and manufacturing processes. Within engineering, it can be argued that challenging and time consuming topics such as kinematics can be better taught by faculty, and hence better understood and appreciated by students, by advancing our understanding of human visualization and spatial reasoning and...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 185-193, September 28–October 2, 2004
Paper No: DETC2004-57065
... be controlled by acting on the actuators any longer, and the internal loads of some links become infinite. When the actuators are locked, PMs become structures consisting of one rigid body (platform) connected to another rigid body (base) by means of a number of kinematic chains (legs). The...