Mechanism and Machine Theory
About: Mechanism and Machine Theory is an academic journal. The journal publishes majorly in the area(s): Kinematics & Parallel manipulator. It has an ISSN identifier of 0094-114X. Over the lifetime, 5407 publication(s) have been published receiving 125906 citation(s).
01 Jul 2006-Mechanism and Machine Theory
Abstract: In this paper a survey of the literature related to dynamic analyses of flexible robotic manipulators has been carried out. Both link and joint flexibility are considered in this work and an effort has been made to critically examine the methods used in these analyses, their advantages and shortcomings and possible extension of these methods to be applied to a general class of problems. Papers are classified according to modeling, control and experimental studies. In case of modeling they are subdivided according to the method of analysis and number of links involved in the analysis. An effort has been made to include the works of a huge variety of researchers working in this field and a total of 433 papers created in the years 1974–2005 have been reviewed in this work.
01 Oct 2002-Mechanism and Machine Theory
TL;DR: An overview of the state of the art on impact and contact modelling methodologies, taking into account their different aspects, specifically, the energy loss, the influence of the friction model, solution approaches, the multi-contact problem and the experimental verification is provided.
Abstract: Impact is a complex phenomenon that occurs when two or more bodies undergo a collision. This phenomenon is important in many different areas––machine design, robotics, multi-body analysis are just a few examples. The purpose of this manuscript is to provide an overview of the state of the art on impact and contact modelling methodologies, taking into account their different aspects, specifically, the energy loss, the influence of the friction model, solution approaches, the multi-contact problem and the experimental verification. The paper is intended to provide a review of results presented in literature and some additional insights into existing models, their interrelationship and the use of these models for impact/contact scenarios encountered in space robotic applications.
01 Mar 2008-Mechanism and Machine Theory
TL;DR: The present atlas is a result of the EURON perspective research project “Physical Human–Robot Interaction in anthropic DOMains (PHRIDOM)”, aimed at charting the new territory of pHRI, and constitutes the scientific basis for the ongoing STReP project ‘Physical Human-Robots Interaction: depENDability and Safety (PHRIENDS’.
Abstract: A broad spectrum of issues have to be addressed in order to tackle the problem of a safe and dependable physical Human–Robot Interaction (pHRI). In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday enviornments. While there are certainly also “cognitive” issues involved, due to the human perception of the robot (and vice versa), and other objective metrics related to fault detection and isolation, our discussion focuses on the peculiar aspects of “physical” interaction with robots. In particular, safety and dependability are the underlying evaluation criteria for mechanical design, actuation, and control architectures. Mechanical and control issues are discussed with emphasis on techniques that provide safety in an intrinsic way or by means of control components. Attention is devoted to dependability, mainly related to sensors, control architectures, and fault handling and tolerance. Suggestions are provided to draft metrics for evaluating safety and dependability in pHRI, and references to the works of the scientific groups involved in the pHRI research complete the study. The present atlas is a result of the EURON perspective research project “Physical Human–Robot Interaction in anthropic DOMains (PHRIDOM)”, aimed at charting the new territory of pHRI, and constitutes the scientific basis for the ongoing STReP project “Physical Human–Robot Interaction: depENDability and Safety (PHRIENDS)”, aimed at developing key components for the next generation of robots, designed to share their environment with people.
01 Jan 2000-Mechanism and Machine Theory
Abstract: This paper presents a state-of-the-art review of the literature on the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. The existing studies in the field are critically examined to ascertain the trends of research in the field and to identify unsolved problems. The Stewart platform being representative of the class of parallel manipulators, the concepts applicable for it have direct relevance to the entire class. The distinctions of this class from the conventional serial robot manipulators are also highlighted and the novel perspectives that are necessary for the analysis and design of the Stewart platform in particular and parallel manipulators in general are recommended.
01 Jan 1978-Mechanism and Machine Theory
Abstract: This paper deals with a new type of soft gripper which can softly and gently conform to objects of any shape and hold them with uniform pressure. This gripping function is realized by means of a mechanism consisting of multi-links and series of pulleys which can be simply actuated by a pair of wires. The possibilities of this gripper are demonstrated by a pair of mechanical model.
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