Now showing items 1-10 of 28
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, ...
Geometric Phases, Anholonomy, and Optimal Movement
In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...
Dynamics and Control of Constrained Nonlinear Systems
As applications have grown in the fields of robotics and automation, power systems, and electronic circuit systems, there has been an increasing interest in the control of constrained dynamic systems described by differential ...
An Efficient Algorithm for the Automatic Enumeration of the Topological Structures of Mechanisms
In this paper, a new algorithm for the automatic enumeration of the topological structures of mechanisms is developed. The algorithm permits the deviation of conventional graphs from contracted graphs by the partition of ...
Optimal Control and Poisson Reduction
In this paper we make explicit a reduction of G-invariant optimal control problems on a Lie group G.
Enumeration and Automatic Sketching of Epicyclic-Type Automatic Transmission Gear Trains
The automotive transmission maintains a proper equilibrium between the power and torque produced by the engine and those demanded by the drive wheels. Most automatic transmissions employ some kind of epicyclic gear mechanisms ...
Kinematic Synthesis of Bevel-Gear-Type Robotic Wrist Mechanisms
Bevel-gear-type robotic wrist mechanisms are commonly used in industry. The reasons for their popularity are that they are compact, light-weight, and relatively inexpensive. However, there are singularities in their ...
Iteractive Graphics and Dynamical Simulation in a Distributed Processing Environment
An implementation of a distributed dynamical simulation is presented. Issues concerning real time simulation are discussed. Three dimensional, animated, object oriented graphics software is presented with problems and ...
Optimization of Gear Ratios for Epicyclic Gear Train Transmissions
An interactive design system has been developed for the automotive epicyclic gear trains that can provide at least three forward gears and one reverse gear. This user-friendly windowing system can access help files, display ...