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In this paper, we study quasi-static manipulation of a planar kinematic chain with a fixed base in which each joint is a linearly-elastic torsional spring. ... The shape of this chain when in static equilibrium can be represented as the solution to a discrete-time optimal control problem, with boundary conditions that vary with the position and orientation of ... This material is based upon work supported by the National Science Foundation under CPS-0931871 and CMMI-0956362. ...doi:10.1109/icra.2012.6224693 dblp:conf/icra/McCarthyB12 fatcat:7e4kgmzplfatxi37f5ez7ct2ke
In this paper, we study quasi-static manipulation of a planar kinematic chain with a fixed base in which each joint is a linearly elastic torsional spring. ... The shape of this chain when in static equilibrium can be represented as the solution to a discretetime optimal control problem, with boundary conditions that vary with the position and orientation of ... Hutchinson for helpful discussions and K. Derosier, R. Morris-Wright, D. Shimamoto, and P. Walsh for many suggestions and for correction of several typographical errors. ...doi:10.1109/tro.2012.2218911 fatcat:qo24d74vlvc7ba2ctyf233o2eq
Zhao and Z. Huang, Kinematics and force analysis of a 6 D.O.F. parallel mechanism with elastic joints (87-96); T. Maier and C. ... Fanghella, Modular kinematics of planar mechanisms with prismatic pairs and flex- ible links (255-264); P. Zsombor-Murray, M. L. Husty and P. Gervasi, Geometry in mechanics (267-276); K. ...
Scientific journal of the Ternopil national technical university
Proposed construction of micromanipulators using parts of the drive chains, commonly rolled sections, on the basis of compliant kinematical devices using a common rod and sheet materials. ... the possibility of full or partial sterilization and protection from wrong actions of the operator. ... roller guides to guide mechanism (exact and/or approximate) with only rotational kinematical pairs; using of elastic kinematical devices. ...doi:10.33108/visnyk_tntu2017.03.081 fatcat:to2g46bf6vgjdcqftuv2yisplq
Starting from the constructive scheme of the mechanism, the kinematic scheme is drawn in three distinct positions (folded, middle and unfolded). ... By means of this scheme the mobility of the mechanism is calculated and the structural-topological formula of it is obtained. ... These mechanisms can be compared with the planar manipulators having staged kinematic chains and being manually actuated by the last element. ...doaj:36a8fda084794239b55334a11e8ca821 fatcat:2c4vzlz5rjdhlim3fr4wmi3chq
of increasing joints and the method of combining joints, are proposed for the generation of all possible planar n-bar linkage chains with multiple joints.” ... Quinn (Providence, R.1.) 70B Kinematics See also 51029, 70036, 70037. Chernous’ko, F. L. 84b:70003 The dynamics of controlled motions of an elastic manipulator. Izv. Akad. Nauk SSSR Tekhn. ...
of an elastic pivot joint between the two fingers. ... The inhand manipulation behavior, namely, the planar manipulation of the grasped body, is predefined thanks to a simple hybrid lowlevel control scheme and has an increased range of motion due to the introduction ... To facilitate our discussion, we call such an eight-link planar kinematic chain the 1-DOF Innocenti linkage, in honor of Carlo Innocenti, who initially analytically . ...doi:10.1109/tro.2016.2562122 fatcat:3idyektvtbcp3c7lyv46y3vsri
Using this methodology, it is proposed the kinetostatic control algorithm that allows to improve accuracy of the classical kinematic control and to compensate position errors caused by elastic deformations ... the stiffness in the neighborhood of its kinematic singularities. ... Fig. 3 3 Architecture of the Orthoglide manipulator and its planar version.Step#5. ...arXiv:1012.1943v1 fatcat:qcexz4klkne3rpkr3pgdoyic4u
Advances in Robot Kinematics: Motion in Man and Machine
Using this methodology, it is proposed the kinetostatic control algorithm that allows to improve accuracy of the classical kinematic control and to compensate position errors caused by elastic deformations ... the stiffness in the neighborhood of its kinematic singularities. ... Fig. 3 3 Architecture of the Orthoglide manipulator and its planar version.Step#5. ...doi:10.1007/978-90-481-9262-5_50 fatcat:und4hl4ggff25g7623qol5zbfe
In order to select the best possible chain or mechanism at the conceptual stage of design, the designer should be able to read the characteristics of the kinematic chains based on their topology. ... Based on this belief in the present work chains are modeled as a system of springs connected in series to reveal some of the characteristics like stiffness and compactness. ... Rao  compare the kinematic chains for characteristics like mechanical advantages, compactness and stiffness. ...doi:10.13189/ujme.2014.020301 fatcat:4eacxsewnza5rfeyl7o7bod7ua
Automation and Robotics
Trajectory and workspace of elastic planar parallel manipulator FIVE-BAR Fig. 3. ... A model of elastic planar parallel manipulators FIVE-BAR was created. A lumped elasticity c L = c R = 5.464·10 6 N/m was considered in the upper arms of the manipulator, shown in Fig. 2 . ... Derivation and Calculation of the Dynamics of Elastic Parallel Manipulators, Automation and Robotics, Juan Manuel Ramos Arreguin (Ed.), ISBN: 978-3-902613-41-7, InTech, Available from: http://www.intechopen.com ...doi:10.5772/6108 fatcat:3nzygvmknvcmpplqm37jrn7eye
With a force resolution of 0.7mN and a worst case mean positioning repeatability of 23µm, the system is capable of dextrously manipulating rectangular parts with dimensions 200µm x 200µm x 100µm. ... By utilizing rapid prototyping technology, compliant mechanisms, and commodity-grade actuators and sensors, we significantly reduce the complexity and cost of the previous Orthotweezers system without ... The authors thank Erik Steltz and Minerva Pillai for their help, insight, and thought-provoking conversations. ...doi:10.1109/robot.2007.363086 dblp:conf/icra/HooverF07 fatcat:znzpzoqovnfllbnnkgtbcpxuw4
2016 12th IEEE International Conference on Industry Applications (INDUSCON)
Consequently, dynamic and elastodynamic criteria are examined with the purpose of analyzing their behavior as a function of the design variables that are the lengths of the links of the robot. ... Design criteria of the parallel robots are required in order to perform the optimal design. This paper aims at proposing optimal design criteria for a planar parallel robot with flexible joints. ... ACKNOWLEDGMENT The authors express their acknowledgements to the Graduate Program in Mechanical Engineering of the Federal University of Technology -Paraná funded by CAPES. ...doi:10.1109/induscon.2016.7874544 fatcat:dthfpnp64fan7axoklqocenj3q
As an example, a planar manipulator turning a crank is presented. In a further step, the LPVF algorithm is extended to switched LPVF in order to improve the mechanical power conversion. ... The generation of movements in closed kinematic chains as opposed to open kinematic chains is a challenging task because all participating joints have to be moved in a highly coordinated manner in order ... Acknowledgment This work was supported by the Deutsche Forschungsgemeinschaft (DFG grant CR 58/10-1) and the SPARK project (EC-IST programme). ...doi:10.1177/0278364906068941 fatcat:3ckaiipdoffrpjrqfhr2gnrwha
Abstract| This paper discusses the design issue of general closed kinematic chains focusing on analysis of constraints and elastic deformations. ... of closed kinematic chains. ... Katsu Yamane for technical suggestions and proof-reading. ...doi:10.1109/robot.2004.1308070 dblp:conf/icra/NakamuraM04 fatcat:vbizicb4mvgm5gyuy32qs44bly
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