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Keywords: parallel mechanisms
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Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 963-971, September 10–13, 2000
Paper No: DETC2000/MECH-14156
... Keywords: Parallel Mechanisms, Human Knee, Passive Motion, Position Analysis ABSTRACT By generalizing a previous model proposed in the literature, a new spatial kinematic model of the knee joint passive motion is presented. The model is based on an equivalent spatial parallel mechanism which relies upon...
Proceedings Papers

Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 939-945, September 9–12, 2001
Paper No: DETC2001/DAC-21111
... employed in clinical practice are also reported. knee passive motion parallel mechanisms direct kinematics Proceedings of DETC'01 ASME 2001 Design Engineering Technical Conference and Computers and Information in Engineering Conference Pittsburgh, PA, September 9-12, 2001 DETC2001/DAC-21111...
Proceedings Papers

Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1259-1267, August 3–6, 2008
Paper No: DETC2008-49890
... parallel mechanisms forward position problem inverse position problem mobility screw theory This paper presents a new class of parallel mechanism which is constructed with a 5-limb R SP architecture. To provide insight into the geometry and the position analysis of this mechanism...
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
... 22 05 2009 This paper applies the ‘technomimetics’ concept to generate a new class of parallel mechanisms inspired by origami folds. This new class of 3-DOF (Degree of Freedom) parallel mechanisms is constructed with 3- RPRP architecture. When the geometric constraints mentioned in...
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
... results in the design rs which become one structure with topology he actuators are locked is discussed. inematics, parallel mechanisms, mobility ties. tools, in precision assembly tools, etc.) which widely justifies the interest for them. Parallel manipulators (PMs) become parallel structures when the...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 123-129, September 28–October 2, 2004
Paper No: DETC2004-57037
... kinematics position analysis parallel mechanisms parallel structure When the actuators are locked, parallel manipulators (PMs) become parallel structures, that are structures constituted by two rigid bodies (platform and base) connected by a number of kinematic chains (limbs) with only...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 1293-1301, September 28–October 2, 2004
Paper No: DETC2004-57494
... 30 06 2008 This paper systematically presents an effective algorithm for the dynamic balancing of multi-degree-of-freedom parallel mechanisms with multiple legs and the dynamic equivalence between point masses and arbitrary moving platforms. The mass and inertia of the moving platform...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 1569-1582, September 28–October 2, 2004
Paper No: DETC2004-57604
... criterion treats all constraints as active, even redundant constraints, which do not affect the mechanism degrees-of-freedom. This paper examines the screw systems of a parallel mechanism to identify the redundant constraints. The screw system characteristics and relationships are then investigated for...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 115-121, September 28–October 2, 2004
Paper No: DETC2004-57036
... kinematics position analysis parallel mechanisms parallel structure A wide family of parallel manipulators (PMs) is the one that groups all the PMs with three legs where the legs become kinematic chains constituted of a passive spherical pair (S) in series with either a passive...
Proceedings Papers

Proc. ASME. IDETC-CIE2003, Volume 2: 29th Design Automation Conference, Parts A and B, 1117-1123, September 2–6, 2003
Paper No: DETC2003/DAC-48821
... kinematics parallel mechanisms mobility analysis singularities The instantaneous forward problem (IFP) singularities of a parallel manipulator (PM) must be determined during the manipulator design and avoided during the manipulator operation, because they are configurations where the...
Proceedings Papers

Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 1041-1050, September 29–October 2, 2002
Paper No: DETC2002/MECH-34323
... matrix throughout their workspace. As a consequence, both the direct and the inverse position problems are linear and the kinematic analysis proves straightforward. Parallel Mechanisms Translational Mechanisms Constraint Singularities Direct Kinematics Singularities Isotropy 3URFHHGLQJV RI7...
Proceedings Papers

Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 933-941, September 29–October 2, 2002
Paper No: DETC2002/MECH-34310
... 18 06 2008 In this paper, the design and dynamic balancing of a novel 3-DOF parallel mechanism referred to as parallelepiped mechanism are addressed. Two types of actuation schemes of the mechanism are considered. The balancing equations are derived by imposing that the center of mass...