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Keywords: Screw theory
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Proceedings Papers

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A076, August 14–17, 2022
Paper No: DETC2022-89822
...) has been a central problem in screw theory since its conception. Until now, there has been no autonomous computational tool that can identify, locate, and orient a freedom space defined by any set of desired degree-of-freedom motions (i.e., twists). The authors are developing this tool as part...
Proceedings Papers

Proc. ASME. IDETC-CIE2001, Volume 1: 21st Computers and Information in Engineering Conference, 719-729, September 9–12, 2001
Paper No: DETC2001/CIE-21304
... sure that they justify their design decisions. This paper also links the steps in the design process to specific tools developed in previous papers. Top-down Assembly Design Datum Flow Chain (DFC) Constraint Screw Theory Mechanical Assembly Tolerance Analysis Proceedings of DETC'01 ASME...
Proceedings Papers

Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 697-707, September 9–12, 2001
Paper No: DETC2001/DAC-21083
...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-21083 SCREW THEORY BASED METROLOGY FOR DESIGN AND ERROR COMPENSATION OF MACHINE TOOLS Sang-Ku Moon Yong-Mo Moon Sridhar...
Proceedings Papers

Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A047, August 4–7, 2013
Paper No: DETC2013-12575
...-chain ap- proach, Screw theory NOMENCLATURE 3T1R Three-DOF translation and one-DOF rotation. C Order of the twist system (also the connectivity) of the mov- ing platform of a parallel manipulator. c Order of the wrench system of a parallel manipulator. ci Order of the wrench system of the i-th leg. f i...
Proceedings Papers

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 249-258, August 12–15, 2012
Paper No: DETC2012-70479
... and compare every microstructural concept that best satisfies the design requirements before selecting the final design. A screw-theory-based analytical tool is also provided in this paper to help designers calculate and optimize the thermal properties of microstructural concepts, which are generated using...
Proceedings Papers

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1235-1244, August 12–15, 2012
Paper No: DETC2012-70636
... screw theory singularity reciprocal screws Proceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2012 August 12 15, 2012, Chicago, IL, USA DETC2012-70636 CLASSIFICATION OF SCREW SYSTEMS COMPOSED OF THREE...
Topics: Screws
Proceedings Papers

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 497-504, August 12–15, 2012
Paper No: DETC2012-70621
.... Variable degrees-of-freedom parallel manipulator Parallel manipulator with multiple operation modes Type synthesis Virtual-chain approach Screw theory Proceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE...
Proceedings Papers

Proc. ASME. IDETC-CIE2011, Volume 7: 5th International Conference on Micro- and Nanosystems; 8th International Conference on Design and Design Education; 21st Reliability, Stress Analysis, and Failure Prevention Conference, 335-344, August 28–31, 2011
Paper No: DETC2011-47914
... essential for design and analysis. This paper reports a numerical method for decoupling the Cartesian stiffness matrix, based on screw theory. With the aid of this method, the translational and rotational stiffness matrices can be analyzed independently. The mechanical properties of the decoupled stiffness...
Proceedings Papers

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1009-1016, August 28–31, 2011
Paper No: DETC2011-48165
.... Fi- nally, the geometric characteristics of singular configurations of the class of parallel manipulators are obtained with almost no algebraic derivation. KEY WORDS Parallel mechanism, screw theory, singular- ity, equivalent serial kinematic chain approach 1 INTRODUCTION Singularity analysis [1...
Proceedings Papers

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1051-1058, August 28–31, 2011
Paper No: DETC2011-48476
... 13 06 2012 This paper presents a novel parallel robot constructed with a three-limb CUP architecture. The mobility of the mechanism is obtained using screw theory, showing that the platform has three degrees of freedom, namely: (i) translation along the Z axis; and (ii) two...
Proceedings Papers

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1059-1067, August 28–31, 2011
Paper No: DETC2011-48510
... be extended to the type synthesis of other classes of parallel manipulators with multiple operation modes. KEY WORDS Parallel mechanism, Parallel mechanism with multiple operation modes, Type synthesis, Virtual chain ap- proach, Screw theory 1 INTRODUCTION Great advances have been made in the type synthesis...
Proceedings Papers

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 33-41, August 28–31, 2011
Paper No: DETC2011-47335
... systems, screw theory, freedom and constraint spaces INTRODUCTION This paper enables the design of new parallel flexure systems that mimic the kinematics of serial flexure systems that possess DOFs not achievable by conventional parallel flexure systems. Parallel flexure systems consist of a single rigid...
Proceedings Papers

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 1157-1165, August 30–September 2, 2009
Paper No: DETC2009-87577
... 30 07 2010 This paper investigates the mobility of a family of 3-DOF parallel manipulators using screw theory. Based on the 3- P SP , 3- P PS and 3- P CU manipulators and a new 3- CUP parallel manipulator, the paper obtains the branch motion-screws for these architectures...
Proceedings Papers

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 453-462, August 30–September 2, 2009
Paper No: DETC2009-86107
... e-mail: hanglb@126.com ABSTRACT Basic principles and main characteristics of three approaches for structure synthesis of robot mechanisms (the screw theory- based approach, the displacement subgroup-based approach and the approach based on position and orientation characteristic (in short, POC...
Proceedings Papers

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 485-491, August 30–September 2, 2009
Paper No: DETC2009-86243
... are employed to identify whether the mobility is global. overconstrained linkage Bennett loop mobility screw theory 1 Copyright © 2009 by ASME Proceedings of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2009...
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
...., the rotational degree-of-freedom is eliminated. parallel mechanisms forward position problem inverse position problem mobility screw theory onferences & Computers and Information in Engineering Conference IDETC/CIE 2008 P in W P in tt screws shows that the platform exhibits a screw motion...
Proceedings Papers

Proc. ASME. IDETC-CIE2007, Volume 6: 33rd Design Automation Conference, Parts A and B, 869-881, September 4–7, 2007
Paper No: DETC2007-35723
... in N-Rep. Keywords: Computer Aided Design; Legacy Systems Engineer- ing; Assembly Feature; Assembly Model; Data Exchange; Neu- tral Representation; Open Assembly Model; TechSpec; Screw Theory E-mail all correspondence to murshed@asu.edu or murshed@gmail.com modification must be done without violating...
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
... 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...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 733-742, September 28–October 2, 2004
Paper No: DETC2004-57281
... 30 06 2008 In this paper, a systematic method based on the screw theory is proposed for the geometric synthesis of a family of 3-DoF translational parallel manipulators (TPMs). The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 743-748, September 28–October 2, 2004
Paper No: DETC2004-57283
...-counterpart. In order to describe such a complicate kinematic characteristic of a CPM, “primary mobility of a compliant parallel manipulator” concept is proposed. By means of the screw theory, a method of quantifying the primary mobility of the CPM is investigated under the ground that the compliance matrix...