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Keywords: end effectors
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2010, 132(3): 031002.
Published Online: March 11, 2010
... charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified. 14 08 2009 10 01 2010 11 03 2010 11 03 2010 design end effectors manipulator kinematics power transmission (mechanical) Compared with serial robots...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. January 2010, 132(1): 014501.
Published Online: December 21, 2009
...Richard Phillip Mohamed; Fengfeng (Jeff) Xi; Allan Daniel Finistauri In this paper, the structural design of modular reconfigurable robots (MRRs) is studied. This problem is defined as the determination of proper module sizes according to the robot’s payload and end-effector deflection...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2009, 131(1): 011013.
Published Online: December 16, 2008
...Jian Meng; Dongjun Zhang; Zexiang Li Due to joint clearance, a parallel manipulator’s end-effector exhibits position and orientation (or collectively referred to as pose) errors of various degrees. This paper aims to provide a systematic study of the error analysis problem for a general parallel...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2008, 130(9): 092301.
Published Online: August 8, 2008
...Alan P. Bowling; Oussama Khatib This paper presents methodologies for the analysis and design of redundant manipulators, especially macro-/ministructures, for improved dynamic performance. Herein, the dynamic performance of a redundant manipulator is characterized by the end-effector inertial...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2008, 130(7): 072302.
Published Online: May 20, 2008
... including weight optimization and proper component selection. Moreover, the simulation enabled us to define motor torque requirements and maximize end-effector payload capacity for different robot configurations. Visualization of the mobile robot on different types of virtual terrains such as flat roads...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2007, 129(8): 799–807.
Published Online: July 21, 2006
..., and the posture of the end-effector for inverse kinematics. The tool analyzes the configurations and reports whether or not a feasible solution exists. Dynamic analysis is used to solve an inverse dynamic problem. By specifying the dynamic parameters of system components, the end-effector motion...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2007, 129(5): 520–529.
Published Online: May 25, 2006
... required torque at actuators and maximum reachable workspace, with the simultaneous fulfillment of design constraints, such as satisfactory mechanical stiffness at the end effector, global kinematic isotropy over the workspace, and limited bulk of the device. A geometric interpretation of singularities...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. April 2007, 129(4): 449–454.
Published Online: April 7, 2006
... system for a particular configuration and reference point on the end effector (i.e., point design). Here the DCE are used in conjunction with a reliability-based design optimization (RBDO) strategy in order to obtain designs with robust dynamic performance with respect to the end-effector reference point...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. February 2007, 129(2): 234–238.
Published Online: February 9, 2006
..., some physical interpretations are given. 23 06 2004 09 02 2006 manipulator dynamics end effectors reactionless dynamic balancing dynamic equivalence mobile platform parallel mechanisms A parallel mechanism is defined as a mechanism that guides the motion of its end...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2006, 128(6): 1236–1245.
Published Online: January 9, 2006
...Alan P. Bowling; ChangHwan Kim This article explores the effect that velocities have on a nonredundant robotic manipulator’s ability to accelerate its end-effector, as well as to apply forces/moments to the environment at the end-effector. This work considers velocity forces, including Coriolis...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2006, 128(2): 392–402.
Published Online: June 8, 2005
... on the location of its end-effector. On the other hand, a differential vector method is used to study the influence of the length and angular variations in the parts of the manipulator on the position and orientation of its end-effector. Besides, this method takes into account the variations in the parallelograms...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. January 2006, 128(1): 142–145.
Published Online: April 13, 2005
... are defined and the dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator will be able to place its end-effector at these three prespecified locations. In this problem, six of the design parameters are set as free choices and their values are selected arbitrarily...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 288–294.
Published Online: April 5, 2005
...R. Vertechy; V. Parenti-Castelli The paper presents an algorithm for the real-time evaluation of the actual end-effector orientation of general parallel spherical wrists. Conceptually, the method relies on evidence that the pose of a rigid body is defined once the location of at least two linearly...
Journal Articles
Publisher: ASME
Article Type: Article
J. Mech. Des. March 2005, 127(2): 232–241.
Published Online: March 25, 2005
...-degree-of-freedom systems, such SDCSC-configuration manipulators need to be designed specific to a given task. In this paper, we investigate the development of a synthesis scheme, leveraging tools from Fourier analysis and optimization, to permit the end-effectors of such manipulators to closely...
Journal Articles
Publisher: ASME
Article Type: Article
J. Mech. Des. March 2005, 127(2): 242–248.
Published Online: March 25, 2005
... of the workspace is performed and an analytical method for the determination of the boundaries of an x - y two-dimensional subset is proposed. The new notion of dynamic workspace is defined, as its shape depends on the accelerations of the end-effector. We demonstrate that any subset of the workspace can...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 264–271.
Published Online: January 17, 2005
.... 20 05 2004 17 01 2005 legged locomotion manipulator kinematics end effectors Kinematics Position Analysis Parallel Mechanisms Parallel Structure This paper is a combined version of two papers (DETC2004-57036 and DETC2004-57037) presented at the ASME 2004 Design...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. September 2004, 126(5): 850–855.
Published Online: October 28, 2004
...Raffaele Di Gregorio Orientating a rigid body without changing its position is required in many technical applications. This manipulation task is accomplished by manipulators (spherical manipulators) that are just able to make the end effector move according to controlled spherical motions...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. September 2004, 126(5): 842–849.
Published Online: October 28, 2004
... and the dimensions of the geometric parameters of the 3-R manipulator are computed so that the manipulator will be able to place its end-effector at these pre-specified locations. Denavit and Hartenberg parameters and 4 × 4 homogeneous matrices are used to formulate the problem and obtain the design equations...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. July 2005, 127(4): 596–601.
Published Online: October 6, 2004
... in an effective manner using the singular value decomposition. These parameters include the moment of inertia, speed, torque, and power of the motor required for producing the specified velocity and acceleration of the end effector. An example is given to determine these parameters of a device...