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The Workspace of Three-Degree-of-Freedom, Four-Jointed Spherical Wrist Mechanisms
In this paper, orientational workspace of three-degree-of- freedom, four-jointed spherical wrist mechanisms have been investigated. We have derived the workspace boundary equations via both geometric consideration and ...
Topological Analysis of Tendon-Driven Manipulators
This paper investigates the effect of tendon routing on kinematic and static force transmission associated with tendon-driven manipulators. The transmission characteristics can be described by the velocity and/or force ...
The Trajectory Analysis of Spherical Planetary Gear Trains
In this paper, the trajectory of spherical planetary gear trains has been studied. The parametric equations of trajectory are derived. We have shown that the trajectory generated by a tracer point on the planet of a spherical ...