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Journal Articles

A Synthesis Approach of XYZ Compliant Parallel Mechanisms Toward Motion Decoupling With Isotropic Property and Simplified Manufacturing

Chuyang Leng, Guangbo Hao, Xiaoze Ren, Changsheng Wang, Yanming Li, Yuanzhao Zhang, Haiyang Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2024, 146(11): 113303.
Paper No: MD-24-1056
https://doi.org/10.1115/1.4065460
Published Online: June 3, 2024
View Article titled, A Synthesis Approach of XYZ Compliant Parallel Mechanisms Toward Motion Decoupling With Isotropic Property and Simplified Manufacturing
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Topics: Algebra, Compliant mechanisms, Constraint equations, Design, Isotropy, Manufacturing, Parallel mechanisms, Topology, Rotation
Journal Articles

Analysis, Design, and Control of an Omnidirectional Mobile Robot in Rough Terrain

Martin Udengaard, Karl Iagnemma
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2009, 131(12): 121002.
https://doi.org/10.1115/1.4000214
Published Online: November 3, 2009
View Article titled, Analysis, Design, and Control of an Omnidirectional Mobile Robot in Rough Terrain
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Topics: Design, Isotropy, Mobile robots, Robots, Surface roughness, Wheels, Kinematics, Optimization
Journal Articles

Performance Analysis and Optimal Design of a 3-DOF 3-PRUR Parallel Mechanism

Daxing Zeng, Zhen Huang, Wenjuan Lu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2008, 130(4): 042307.
https://doi.org/10.1115/1.2885190
Published Online: March 19, 2008
View Article titled, Performance Analysis and Optimal Design of a 3-DOF 3-PRUR Parallel Mechanism
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Topics: Design, Jacobian matrices, Kinematics, Parallel mechanisms, Mechanical admittance, Stiffness, Isotropy
Journal Articles

Workspace Optimization of 3-Legged UPU and UPS Parallel Platforms With Joint Constraints

Mircea Badescu, Caltech Postdoctoral Scholar, Mem. ASME, Constantinos Mavroidis, Associate Professor, Mem. ASME
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. March 2004, 126(2): 291–300.
https://doi.org/10.1115/1.1667922
Published Online: May 5, 2004
View Article titled, Workspace Optimization of 3-Legged UPU and UPS Parallel Platforms With Joint Constraints
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Topics: Design, Isotropy, Optimization, Monte Carlo methods, Robots, Actuators, Universal joints
Journal Articles

Dynamics of a Class of Parallel Wrists

Raffaele Di Gregorio, Vincenzo Parenti-Castelli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. May 2004, 126(3): 436–441.
https://doi.org/10.1115/1.1737382
Published Online: October 1, 2003
View Article titled, Dynamics of a Class of Parallel Wrists
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Topics: Dynamic models, Dynamics (Mechanics), End effectors, Inertia (Mechanics), Jacobian matrices, Kinematics, Manipulators, Kinetic energy, Isotropy, Actuators
Journal Articles

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture

Damien Chablat, Jorge Angeles
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. June 2003, 125(2): 275–280.
https://doi.org/10.1115/1.1561041
Published Online: June 11, 2003
View Article titled, The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture
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Topics: Algebra, Architecture, Computation, Design, Isotropy, Jacobian matrices, Manipulators, Reflection, Errors, Manufacturing
Journal Articles

Kinematic Synthesis of Manipulators Using a Distributed Optimization Method

F. B. Ouezdou, S. Re´gnier, C. Mavroidis
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1999, 121(4): 492–501.
https://doi.org/10.1115/1.2829488
Published Online: December 1, 1999
View Article titled, Kinematic Synthesis of Manipulators Using a Distributed Optimization Method
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Topics: Kinematics, Manipulators, Optimization, Degrees of freedom, End effectors, Isotropy
Journal Articles

Kinematic and Dynamic Synthesis of Geared Robotic Mechanisms

Dar-Zen Chen, Lung-Wen Tsai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1993, 115(2): 241–246.
https://doi.org/10.1115/1.2919183
Published Online: June 1, 1993
View Article titled, Kinematic and Dynamic Synthesis of Geared Robotic Mechanisms
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Topics: Kinematics, Robotics, Gears, Manipulators, Design, End effectors, Isotropy, Trains
Journal Articles

The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator

C. Gosselin, J. Angeles
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1989, 111(2): 202–207.
https://doi.org/10.1115/1.3258984
Published Online: June 1, 1989
View Article titled, The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator
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Topics: Design, Kinematics, Manipulators, Isotropy, Numerical analysis
Journal Articles

The Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator

C. Gosselin, J. Angeles
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1988, 110(1): 35–41.
https://doi.org/10.1115/1.3258901
Published Online: March 1, 1988
View Article titled, The Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator
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Topics: Design, Kinematics, Manipulators, Algebra, Grippers, Isotropy, Jacobian matrices, Numerical analysis