scholarly journals Kinematic Design of Manipulators

10.5772/6198 ◽  
2008 ◽  
Author(s):  
Marco Ceccarelli ◽  
Erika Ottaviano
Keyword(s):  
Kinematic Design

Optimal design of a redundant spherical parallel manipulator

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 399-405 ◽  
Author(s):  
Sylvie Leguay-Durand ◽  
Claude Reboulet
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Structure Optimization ◽  
Kinematic Design ◽  
Spherical Wrist ◽  
Redundant Structure ◽  
Spherical Parallel Manipulator

A new kinematic design of a parallel spherical wrist with actuator redundancy is presented. A special feature of this parallel manipulator is the arrangement of co-axial actuators which allows unlimited rotation about any axis inside a cone-shaped workspace. A detailed kinematic analysis has shown that actuator redundancy not only removes singularities but also increases workspace while improving dexterity. The structure optimization has been performed with a global dexterity criterion. Using a conditioning measure, a comparison with a non-redundant structure of the same type was performed and shows that a significant improvement in dexterity has been obtained.

Spatial resolution-based kinematic design of a parallel positioning platform

2010 ◽  
Vol 53 (9-12) ◽  
pp. 1149-1165 ◽  
Author(s):  
Ana Cristina Majarena ◽  
Jorge Santolaria ◽  
David Samper ◽  
Juan Jose Aguilar Martin
Keyword(s):  
Spatial Resolution ◽  
Kinematic Design

Kinematic design and motion analysis of spatial rapier drive mechanisms used in weaving machines

2014 ◽  
Vol 84 (19) ◽  
pp. 2065-2073 ◽  
Author(s):  
Recep Eren ◽  
Mesrur Erturk ◽  
Barıs Hascelik
Keyword(s):  
Motion Analysis ◽  
Kinematic Analysis ◽  
Gear Ratio ◽  
Main Shaft ◽  
Drive Mechanism ◽  
Spatial Mechanism ◽  
Kinematic Design ◽  
Shaft Angle

This paper presents an approach for the kinematic design of a rapier drive mechanism containing a spatial mechanism and analyses rapier motion curve. Kinematic design and analysis equations are derived and then the link lengths of the spatial mechanism are calculated in order to satisfy the critical rapier positions inside and outside the shed. In this way, the portions of one loom revolution, during which the rapiers are inside and outside the shed, are determined. The rapier motion curve is obtained by using kinematic analysis equations. It is shown that the position of the oscillating link in the spatial mechanism and the loom main shaft angle at which the rapier enters the shed have the most significant effect on the rapier motion curve. The gear ratio has also some effect on the rapier motion curve. Different rapier motion curves are obtained by changing these parameters and the suitability of these curves for rapier motion is discussed.

Kinematic Design of Serial Link Manipulators From Task Specifications

1993 ◽  
Vol 12 (3) ◽  
pp. 274-287 ◽  
Author(s):  
Christiaan J. J. Paredis ◽  
Pradeep K. Khosla
Keyword(s):  
Serial Link ◽  
Kinematic Design

Geometric optimization algorithims for robot kinematic design

1995 ◽  
Vol 12 (6) ◽  
pp. 453-463 ◽  
Author(s):  
Frank C. Park ◽  
James E. Bobrow
Keyword(s):  
Geometric Optimization ◽  
Kinematic Design

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

1989 ◽  
Vol 111 (2) ◽  
pp. 202-207 ◽  
Author(s):  
C. Gosselin ◽  
J. Angeles
Keyword(s):  
Numerical Method ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Design Criteria ◽  
Kinematic Design ◽  
Three Degree Of Freedom

In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) workspace maximization, and (c) isotropy. The associated problems are formulated and their solutions, one of them requiring to resort to a numerical method, are provided. Optimum designs are thereby obtained. A discussion on singularities is also included.

Kinematic Design of Functional Nanoscale Mechanisms From Molecular Primitives

2021 ◽  
Author(s):  
Meysam T. Chorsi ◽  
Pouya Tavousi ◽  
Caitlyn Mundrane ◽  
Vitaliy Gorbatyuk ◽  
Kazem Kazerounian ◽  
...  
Keyword(s):  
Ion Channels ◽  
Range Of Motion ◽  
Systematic Approach ◽  
Design Space ◽  
Vital Role ◽  
Degree Of Freedom ◽  
Living Systems ◽  
Kinematic Design ◽  
Systematic Exploration ◽  
And Function

Abstract Natural nanomechanisms such as capillaries, neurotransmitters, and ion channels play a vital role in the living systems. But the design principles developed by nature through evolution are not well understood and, hence, not applicable to engineered nanomachines. Thus, the design of nanoscale mechanisms with prescribed functions remains a challenge. Here, we present a systematic approach based on established kinematics techniques to designing, analyzing, and controlling manufacturable nanomachines with prescribed mobility and function built from a finite but extendable number of available "molecular primitives." Our framework allows the systematic exploration of the design space of irreducibly simple nanomachines, built with prescribed motion specification by combining available nanocomponents into systems having constrained, and consequently controllable motions. We show that the proposed framework has allowed us to discover and verify a molecule in the form of a seven link, seven revolute (7R) close loop spatial linkage with mobility (degree of freedom) of one. Furthermore, our experiments exhibit the type and range of motion predicted by our simulations. Enhancing such a structure into functional nanomechanisms by exploiting and controlling their motions individually or as part of an ensemble could galvanize development of the multitude of engineering, scientific, medical, and consumer applications that can benefit from engineered nanomachines.

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