A two-module (two-body) locomotion system moving along a straight line on a rough horizontal plane is considered. The motion of the system is excited by a periodic change in the distance between the bodies. Friction b...
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In this paper the settlement scheme of the four-link jumping robot is submitted, the mathematical model of movement of object in which the jump of the device is presented in the form of sequence of phases is developed...
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This paper presents a closed-form solution to the four-position synthesis problem by using a spatial slider, which is a spatial dyad of two perpendicularly intersected cylindrical joints. We utilize the dialytic elimi...
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ISBN:
(纸本)9789400772144;9789400772137
This paper presents a closed-form solution to the four-position synthesis problem by using a spatial slider, which is a spatial dyad of two perpendicularly intersected cylindrical joints. We utilize the dialytic elimination method to simplify the synthesis equations and to obtain a univariate ninth degree polynomial equation. Among the nine sets of solutions, two of them are infinite, and one is the displacement screw from the first position to the second position. Therefore, we have at most six real solutions that can be used to design spatial sliders for the four-position synthesis problem. A numerical example is provided in to demonstrate the validity of the solution procedure.
The wrench capabilities of manipulators under uncertainties in parameters are examined. The forces/torques of joints are calculated utilizing the perturbed and interval forms of Jacobian matrix. The differential of Ja...
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The paper examines the subspaces of a space spanned by three independent twists (or wrenches) with axes parallel to a common plane. A complete characterization of all screw cylindoids nested within a special three-sys...
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This paper describes the origins of the ROMANSY series of symposia. It recounts the author’s experience as one of the original founders. The emphasis is on the events leading to the first organizational meetings and ...
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In this paper, the motion performance of manipulators considering the uncertainty in the kinematic parameters is investigated. Interval analysis is employed to deal with the uncertainty in the kinematic parameters in ...
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In this paper we analyze singularities of the 3-DOF translational parallel mechanism with three kinematic chains, each consisting of five revolute joints. Both Jacobian and Screw theory methods are used to determine s...
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To drive synchronously and simply control system of insulator inspection robot, a single-driving moving mechanism of suspension insulator inspection robot is designed. The parallel transmission mechanism is designed t...
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Numerous passive and active tool holders for minimally invasive surgery consisting of a remote center of motion (RCM) mechanism with four degrees of freedom (DOFs) have been developed. These are mostly serial mechanis...
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