The Stewart Platform is one example of a parallel connection robot manipulator. This paper summarizes work that has been done at Oregon State University over the past several years on this topic. T...

A Stewart-Platform based manipulator: general theory and practical construction

The Stewart platform manipulator: a review

Mathematical models used in gear dynamics—A review

Parallel manipulators have a specific mechanical architecture where all the links are connected both at the base and at the gripper of the robot. By changing the lengths of these links we are able to control the position1 of the gripper. In general, for a given set of links lengths there is only one position for the gripper. However, it may be suspected that in some cases more than one solution may be found for the position of the gripper: the robot is in a singular configuration. To determine these singular configurations the classical method is to find the roots of the determinant of the jacobian matrix. In our case the jacobian matrix is complex, and it seems not to be possible to find these roots. We propose here a new method based on Grassmann line geometry. The set of lines, P3, constitutes a linear variety of rank 6. We show that a singular configuration is obtained when the variety spanned by the lines associated to the robot links has a rank less than 6. An important feature of the varieties of t...

Singular Configurations of Parallel Manipulators and Grassmann Geometry

Non-linear dynamics of a spur gear pair

Etude de la dynamique des chocs dans une transmission a engrenages en tenant compte du frottement entre les dents, de l'elasticite en flexion et de l'amortissement du contact hertzien

Hertzian damping, tooth friction and bending elasticity in gear impact dynamics

Modele de calcul de la dynamique des engrenages cylindriques a denture droite tenant compte de la geometrie reelle (forme circulaire)

A Rotary Model for Spur Gear Dynamics

Feasibility Study of a Platform Type of Robotic Manipulators from a Kinematic Viewpoint

The cycloidal speed reducer, or cycloid drive, is an epicyclic gear train in which the profile of the planet gear is an epitrochoid and the annular sun gear has rollers as its teeth. The cycloid drive has very high efficiency and small size, in comparison with a conventional gear mechanism, making it an attractive candidate for limited space applications. In this paper an analytical model is developed which models the cycloid drive with machining tolerances. Consequently, the effect of machining tolerances on backlash and torque ripple are investigated. It is found that both the backlash and the torque ripple are inherent periodic functions of the input crank angle

D. C. H. Yang

Papers

Hertzian damping, tooth friction and bending elasticity in gear impact dynamics

A Rotary Model for Spur Gear Dynamics

Feasibility Study of a Platform Type of Robotic Manipulators from a Kinematic Viewpoint

Cycloid drives with machining tolerances

On the Dexterity of Robotic Manipulators—Service Angle