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Journal Articles

On the Dexterity of Robotic Manipulators—Service Angle

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D. C. H. Yang, Z. C. Lai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 262–270.
https://doi.org/10.1115/1.3258719
Published Online: June 1, 1985
View Article titled, On the Dexterity of Robotic Manipulators—Service Angle
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Topics: Manipulators, Robots, Theorems (Mathematics)
Journal Articles

Workspace Analysis of Regional Structures of Manipulators

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J. Spanos, D. Kohli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 216–222.
https://doi.org/10.1115/1.3258711
Published Online: June 1, 1985
View Article titled, Workspace Analysis of Regional Structures of Manipulators
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Topics: Manipulators
Journal Articles

Generation and Evaluation of a Manipulator Workspace Based on Optimum Path Search

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M. Cwiakala, T. W. Lee
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 245–255.
https://doi.org/10.1115/1.3258717
Published Online: June 1, 1985
View Article titled, Generation and Evaluation of a Manipulator Workspace Based on Optimum Path Search
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Topics: Manipulators, Algorithms, Geometry, Optimization, Robots
Journal Articles

Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of Freedom

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F. L. Litvin, T. Costopoulos, V. Parenti Castelli, M. Shaheen, Y. Yukishige
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 179–188.
https://doi.org/10.1115/1.3258707
Published Online: June 1, 1985
View Article titled, Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of Freedom
Open the PDF for Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of Freedom in another window
Topics: Degrees of freedom, Manipulators
Journal Articles

Principles on the Development of Mechanical Hands Which Can Manipulate Objects by Means of Active Control

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P. Datseris, W. Palm
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 148–156.
https://doi.org/10.1115/1.3258703
Published Online: June 1, 1985
View Article titled, Principles on the Development of Mechanical Hands Which Can Manipulate Objects by Means of Active Control
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Topics: Mechanical hands, Kinematics, Degrees of freedom, Dynamics (Mechanics), Design, Robots
Journal Articles

Closed and Expanded Form of Manipulator Dynamics Using Lagrangian Approach

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T. Wang, D. Kohli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 223–225.
https://doi.org/10.1115/1.3258712
Published Online: June 1, 1985
View Article titled, Closed and Expanded Form of Manipulator Dynamics Using Lagrangian Approach
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Topics: Chain, Equations of motion, Manipulator dynamics, Silver
Journal Articles

Workspace Analysis of Mechanical Manipulators Using Polynomial Discriminants

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D. Kohli, J. Spanos
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 209–215.
https://doi.org/10.1115/1.3258710
Published Online: June 1, 1985
View Article titled, Workspace Analysis of Mechanical Manipulators Using Polynomial Discriminants
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Topics: Manipulators, Polynomials, Displacement, Kinematics
Journal Articles

Solving the Kinematics of the Most General Six- and Five-Degree-of-Freedom Manipulators by Continuation Methods

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L.-W. Tsai, A. P. Morgan
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 189–200.
https://doi.org/10.1115/1.3258708
Published Online: June 1, 1985
View Article titled, Solving the Kinematics of the Most General Six- and Five-Degree-of-Freedom Manipulators by Continuation Methods
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Topics: Kinematics, Manipulators, Algorithms, Computer programming, Kinematic analysis, Numerical analysis, Numerical stability, Polynomials, Robots
Journal Articles

Instantaneous Kinematics of Three-Parameter Motions

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G. R. Pennock, A. T. Yang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 157–162.
https://doi.org/10.1115/1.3258704
Published Online: June 1, 1985
View Article titled, Instantaneous Kinematics of Three-Parameter Motions
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Topics: Kinematics, Chain, Manipulators, Screws
Journal Articles

Adjustable Straight-Line Linkages—Possible Legged-Vehicle Applications

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A. D. Ryan, K. H. Hunt
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 256–261.
https://doi.org/10.1115/1.3258718
Published Online: June 1, 1985
View Article titled, Adjustable Straight-Line Linkages—Possible Legged-Vehicle Applications
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Topics: Linkages, Vehicles, Actuators, Kinematics, Propulsion
Journal Articles

A Study of the Jacobian Matrix of Serial Manipulators

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K. J. Waldron, Shih-Liang Wang, S. J. Bolin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 230–237.
https://doi.org/10.1115/1.3258714
Published Online: June 1, 1985
View Article titled, A Study of the Jacobian Matrix of Serial Manipulators
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Topics: Jacobian matrices, Manipulators, Algebra, Geometry, Kinematics, Robotics
Journal Articles

Optimal Motion Programming of Robot Manipulators

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D. Schmitt, A. H. Soni, V. Srinivasan, G. Naganathan
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 239–244.
https://doi.org/10.1115/1.3258716
Published Online: June 1, 1985
View Article titled, Optimal Motion Programming of Robot Manipulators
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Topics: Computer programming, Manipulators, Robots, Torque
Journal Articles

Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 1: Basic Concepts

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F. L. Litvin, V. Parenti Castelli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 170–178.
https://doi.org/10.1115/1.3258706
Published Online: June 1, 1985
View Article titled, Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 1: Basic Concepts
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Topics: Manipulators, Trajectories (Physics), Degrees of freedom, Grippers, Jacobian matrices, Manufacturing
Journal Articles

Application of Dual-Number Matrices to the Inverse Kinematics Problem of Robot Manipulators

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G. R. Pennock, A. T. Yang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 201–208.
https://doi.org/10.1115/1.3258709
Published Online: June 1, 1985
View Article titled, Application of Dual-Number Matrices to the Inverse Kinematics Problem of Robot Manipulators
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Topics: Kinematics, Manipulators, Geometry, Displacement
Journal Articles

A Direct Determination of the Instantaneous Kinematics of Fully Parallel Robot Manipulators

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M. G. Mohamed, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 226–229.
https://doi.org/10.1115/1.3258713
Published Online: June 1, 1985
View Article titled, A Direct Determination of the Instantaneous Kinematics of Fully Parallel Robot Manipulators
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Topics: Kinematics, Manipulators, End effectors, Actuators, Robots, Screws
Journal Articles

Optimal Actuator Sizing for Robotic Manipulators Based on Local Dynamic Criteria

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M. Thomas, H. C. Yuan-Chou, D. Tesar
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 163–169.
https://doi.org/10.1115/1.3258705
Published Online: June 1, 1985
View Article titled, Optimal Actuator Sizing for Robotic Manipulators Based on Local Dynamic Criteria
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Topics: Actuators, Manipulators, Design, Stress, Computer-aided engineering, Degrees of freedom, Design methodology, Kinematics, Mechanical structures, Modeling