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In this paper, we introduce a new and innovative concept for the control of backlash in gear-coupled robotic mechanisms. The concept utilizes redundant unidirectional drives to assure positive coupling of gear meshes at ...

In this paper, the principle of inertia match has been extended from one degree-of-freedom system to multi-degree-of-freedom systems. Based on the concept of maximum acceleration capacity, we have developed a methodology ...

This paper describes a methodology for the design of geared robotic mechanisms. We have shown that certain gear-coupled manipulators can be designed to possess an isotropic condition at a given end-effector position. For ...

This paper describes a systematic methodology for the dynamic analysis of a general class of articulated gear-mechanisms. The approach is based on recently published results related to the kinematic and dynamic analyses ...