1-20 of 33
Keywords: Jacobian matrices
Close
Follow your search
Access your saved searches in your account

Would you like to receive an alert when new items match your search?
Close Modal
Sort by
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2009, 131(8): 081007.
Published Online: July 20, 2009
... rotor example is used to demonstrate the effectiveness of the proposed robust design method. 14 11 2008 06 05 2009 20 07 2009 design engineering eigenvalues and eigenfunctions Jacobian matrices rotors stability systems engineering robust eigenvalue design eigenvalue...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. December 2008, 130(12): 124501.
Published Online: October 8, 2008
... redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation. 12 06 2007 22 08 2008 08 10 2008 Jacobian matrices patient rehabilitation robot dynamics robot kinematics The use of robots...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2008, 130(10): 102307.
Published Online: September 11, 2008
... of constrained wrench of these PKMs are analyzed, and the poses of the active/constrained forces are determined. Second, based on the principle of virtue work and the determined active/constrained forces, the formulas are derived for solving the 6 × 6 Jacobian matrices of these PKMs and the stiffness matrices...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2008, 130(6): 062306.
Published Online: April 15, 2008
..., the Jacobian matrices of the manipulators are derived, and different types of singularities are analyzed and demonstrated. It is shown that the vast majority of singularities can be avoided by using kinematic redundancy. dexterous manipulators Jacobian matrices manipulator kinematics 2 Higher...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. May 2008, 130(5): 054503.
Published Online: March 26, 2008
... turbines Jacobian matrices machine tools manipulator kinematics In the past, most research focused on the nonredundant parallel manipulator. However, these manipulators have smaller workspace, lower dexterity, and more singular configurations ( 1 2 3 ). Moreover, singularities make the limited...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2008, 130(4): 042307.
Published Online: March 19, 2008
... is determined according to the performance atlases, and some examples are presented. 06 12 2006 11 05 2007 19 03 2008 design engineering Jacobian matrices robot kinematics It is well known that parallel mechanisms (PMs) exhibit advantageous characteristics such as higher...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2007, 129(11): 1161–1169.
Published Online: November 15, 2006
... Hessian matrices Jacobian matrices manipulator kinematics structural engineering torque parallel manipulator constrained leg kinematics Jacobian matrix Hessian matrix Some parallel manipulators with 3–6 degree of freedoms (DOFS) have been used in many practical applications ( 1 2...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2007, 129(11): 1153–1160.
Published Online: November 3, 2006
... system retaining balance at one position that the sum of works done by driving forces and workloads along any virtual displacement is zero. 22 03 2006 03 11 2006 force control geometry Jacobian matrices manipulator kinematics parallel manipulator kinematics driving force...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. June 2007, 129(6): 649–652.
Published Online: June 5, 2006
... of several researchers ( 1 2 3 4 ). From a design perspective, the determination of singularity-free zones in the workspace of parallel mechanisms is an important issue that may open the avenue to several applications of parallel mechanisms. manipulator kinematics Jacobian matrices 10 11...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2007, 129(4): 390–396.
Published Online: April 11, 2006
... Jacobian matrices kinematic influence coefficient lower-mobility parallel mechanism Jacobian Hessian According to the number of degrees of freedom (DoF), parallel mechanisms (PMs) can be classified into three classes: lower-mobility PM ( DoF < 6 ) , 6-DoF PM, and redundant...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2007, 129(3): 301–311.
Published Online: March 10, 2006
... and the approach presented apply to a large class of single-loop overconstrained linkages. The criterion is reformulated, in terms of the well-known Jacobian matrices, for exceptional linkages and extended to linkages with partitioned mobility and trivial linkages. Several examples are included. Parallel dyad...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2006, 128(4): 755–764.
Published Online: September 11, 2005
... 2005 industrial manipulators assembling Jacobian matrices springs (mechanical) eigenvalues and eigenfunctions design engineering compliance analysis platform leaf-spring adjoint transformation eigencompliances eigentwists eigenscrews decomposition A typical three...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 168–178.
Published Online: August 19, 2005
... 08 2005 manipulator kinematics design engineering Jacobian matrices inverse problems In spite of the enormous progress made in the area of robot kinematics since the eighties, a broadly acceptable methodology for the determination of the parameters defining the fundamental...
Topics: Manipulators
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2006, 128(3): 574–580.
Published Online: July 24, 2005
... ), pp. 163 – 176 . Miller , K. , 2002 , “ Maximization of Workspace Volume of 3-DOF Spatial Parallel Manipulators ,” ASME J. Mech. Des. 1050-0472 10.1115/1.1462621 , 124 ( 4 ), p. 347 . CAD manipulator kinematics Jacobian matrices mechanical engineering computing CAD...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 199–206.
Published Online: June 20, 2005
... interesting to determine an inverse jacobian that involves the full twist W of the end effector. But we may also define other Jacobian matrices. We may include parameters in Θ that describe the motion of passive joints, which are usually numerous in parallel robots. Hence, Θ may...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 279–287.
Published Online: April 27, 2005
...Haidong Li; Clément M. Gosselin; Marc J. Richard; Boris Mayer St-Onge The determination of the 6D singularity locus of the general Gough-Stewart platform is discussed in this article. The derivation of the velocity equation and the corresponding Jacobian matrices is first presented. Then a new...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. January 2005, 127(1): 62–69.
Published Online: March 2, 2005
...; revised April 30, 2004. Associate Editor: M. Raghavan. 07 November 2003 30 April 2004 02 03 2005 Jacobian matrices robot kinematics optimisation calibration Recently, there is increasing interest in developing parallel kinematic machines (PKMs) based on parallel...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. January 2005, 127(1): 70–77.
Published Online: March 2, 2005
... 2005 manipulators bifurcation Jacobian matrices position control uncertainty handling The configuration bifurcations of Stewart parallel manipulators at singular positions induce the uncertainty of the moving trends of the manipulative platform. When a manipulative platform arrives...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. January 2005, 127(1): 86–94.
Published Online: March 2, 2005
... received April 23, 2004. Associate Editor: D. Kazmer. 22 December 2003 23 April 2004 02 03 2005 manipulators tolerance analysis Jacobian matrices optimisation sensitivity analysis stability Every engineering design is subject to variations that can arise from...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. November 2004, 126(6): 959–968.
Published Online: February 14, 2005
... robot manipulators have higher stiffness and motion accuracy than serial manipulators due to the in-parallel application of the branches on the mobile platform. manipulators actuators failure analysis Jacobian matrices 14 July 2003 25 February 2004 14 02 2005...