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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
...Abstract 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 the assumption that fibres within the anterior cruciate...
Proceedings Papers

Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 939-945, September 9–12, 2001
Paper No: DETC2001/DAC-21111
... usually 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...
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
... 24 07 2009 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, the paper presents closed-form solutions to the inverse and forward kinematic...
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...
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...
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
... is that the solutions of the direct position analysis of all the SP-2RS architectures are at most sixteen and can be analytically determined through the proposed algorithm. 30 06 2008 kinematics position analysis parallel mechanisms parallel structure of the SP-2RS architectures) has not been...
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
... 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 are replaced by point...
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
... 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 physical properties...
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
... the actuators are locked are at most eight. 30 06 2008 kinematics position analysis parallel mechanisms parallel structure the structures with topo presented algorithm can analytical form, the dir manipulator which gen actuators are locked. In generic structure with eliminant...
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
..., will be illustrated. 19 06 2008 kinematics parallel mechanisms mobility analysis singularities H G motion structur geomet structur structur interpre Finally manipu structur Keywor singula INTRO No industr in the p and a w architec satisfie Proceedings of DETC’03 ASME 2003 Design Engineering...
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...