A repelling-screw-based approach for the construction of generalized Jacobian matrices for nonredundant parallel manipulators
This paper presents a unified and generalized approach for the construction of Jacobian
matrices for general, nonredundant parallel manipulators that possess serial and/or mixed …
matrices for general, nonredundant parallel manipulators that possess serial and/or mixed …
Full and reduced models for the elastodynamics of fully flexible parallel robots
A Cammarata - Mechanism and Machine Theory, 2020 - Elsevier
The elastodynamic analysis of parallel robots still has limitations related to the difficulty of
including parts with several input/output nodes. This results in the impossibility of …
including parts with several input/output nodes. This results in the impossibility of …
A Geometric Framework for Stiffness Map**s of Compliant Robotic Systems on the Special Euclidean Group
In this article, the stiffness map** of compliant robotic systems is generalized to the special
Euclidean group SE (3). A geometric framework is proposed to unify the existing stiffness …
Euclidean group SE (3). A geometric framework is proposed to unify the existing stiffness …
Accuracy analysis of a parallel positioning mechanism with actuation redundancy
J Ding, C Wang, H Wu - Journal of Mechanical Science and Technology, 2019 - Springer
A forward accuracy analysis method based on Lie-group theory and screw theory is
proposed to analyze the pose error of parallel mechanisms with actuation redundancy. Both …
proposed to analyze the pose error of parallel mechanisms with actuation redundancy. Both …
Stiffness optimization of 5-axis machine tool for improving surface roughness of 3D printed products
S Ko, D Lee - Journal of Mechanical Science and Technology, 2017 - Springer
This paper deals with the design of a 3P2R structure based 5-axis machine tool used for
finish cutting to improve the inherent poor surface roughness caused by the laminating …
finish cutting to improve the inherent poor surface roughness caused by the laminating …
A comparative study on 2-DOF variable stiffness mechanisms
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown
in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant …
in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant …
Kinetostatic Performance Comparison of Spherical Parallel Mechanisms Extracted from Type Synthesis with Modeling Clearance in Passive Joints
SM Seyed Mousavi, M Tale Masouleh… - Amirkabir Journal of …, 2019 - mej.aut.ac.ir
A spherical parallel mechanism is used to rotate a body around a fixed point. Different
kinematic arrangements can be obtained for the robot with three degrees of rotational …
kinematic arrangements can be obtained for the robot with three degrees of rotational …