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Jacobian and Stiffness Analysis of a Novel Class of Six-DOF Parallel Minimanipulators
The Jacobian and stiffness matrices of two types of novel, six- DOF parallel minimanipulators are derived. A minimanipulator consists of three inextensible limbs, each of which is driven by a two-DOF driver. Bilinear stepper ...
Kinematic Synthesis of Tendon-Driven Manipulators with Isotropic Transmission Characteristics
This paper presents a methodology for kinematic synthesis of tendon-driven manipulators with isotropic transmission characteristics. The force transmission characteristics, from the end-effector space to the actuator space, ...
A CAD System for the Optimization of Gear Ratios for Automotive Automatic Transmissions
An interactive design system has been developed for the design of automatic automotive transmission gear trains that can provide at least three forward and one reverse speed ratios. This user- friendly windowing system can ...
Jacobian and Stiffness Analysis of a Novel Six-DOF Parallel Minimanipulator
The Jacobian and stiffness matrices of a novel, six-DOF parallel minimanipulator are derived. The minimanipulator consists of three inextensible limbs, each of which is driven by a five-bar linkage to improve its positional ...