Showing papers in "Mechanism and Machine Theory in 2007"

TL;DR: A new method for smooth trajectory planning of robot manipulators is described, which enables one to set kinematic constraints on the robot motion, expressed as upper bounds on the absolute values of velocity, acceleration and jerk.

TL;DR: In this article, an analytical model for the simulation, analysis and control of shift dynamics for dual-clutch transmission vehicles is presented, and the model has been used to study the variation in output torque in response to different clutch pressure profiles during shifts.

TL;DR: A hierarchical software structure has been established to perform all data processing and the control of the hand and provides basic API functions and skills to access all hardware resources for data acquisition, computation and tele-operation.

TL;DR: In this paper, a 3D finite element method (FEM) was used to conduct surface contact stress (SCS) and root bending stress (RBS) calculations of a pair of parallel-shaft spur gears with machining errors (ME), assembly errors (AE) and tooth modifications (TM).

TL;DR: In this paper, an optimal dimensional synthesis method of the DELTA parallel robot for a prescribed workspace is presented, where the objective function is based on the mathematical concept of the power of a point with respect to bounding constraint surfaces.

TL;DR: In this article, the inverse kinematics of a general 6R serial kinematic chain are computed using the study model of Euclidean displacements, which identifies a displacement with a point on a six-dimensional quadric S 6 2 in seven-dimensional projective space P7.

TL;DR: In this article, the effects of machining errors (ME), assembly errors (AE), and tooth modifications (TM) on loading capacity, load-sharing ratio (LSR), and transmission error (TE) of a pair of spur gears by using special-developed finite element method (FEM) software in a personal computer.

TL;DR: In this article, the authors proposed an optimal kinematic design methodology, referred to as Performance Chart based Design Methodology (PCbDM), for parallel mechanisms with fewer than five linear parameters.

TL;DR: In this paper, an approximate model for the contact problem of cylindrical joints with clearances is developed through modeling the pin as a rigid wedge and the elastic plate as a simple Winkler elastic foundation.

TL;DR: In this article, a parametric stiffness analysis of the Orthoglide was performed and a compliant modeling and a symbolic expression of the stiffness matrix were conducted. Butler et al. presented a simple systematic analysis for the influence of the geometric design parameters and identified the critical link parameters.

TL;DR: In this paper, the authors proposed a generalized transmission index for spatial mechanisms based on the virtual coefficient between the transmission wrench screw and the output twist screw, which is applicable to single-loop spatial linkages, with fixed output and single or multiple degrees of freedom.

TL;DR: In this paper, three primary objectives for a rolling bearing, namely, the dynamic capacity (Cd), the static capacity (Cs) and the elastohydrodynamic minimum film thickness (Hmin) have been optimized separately, pairwise and simultaneously using an advanced multi-objective optimisation algorithm: NSGA II (non-dominated sorting based genetic algorithm).

TL;DR: In this paper, an in-pipe robot with active pipe-diameter adaptability and automatic tractive force adjusting is developed for long-distance inspection of main gas pipelines with different diameter series.

TL;DR: In this paper, a kinematically redundant planar parallel manipulator is presented and the inverse displacement problem is examined, and the workspace of the proposed manipulator compared to that of a similar-sized non-redundant one.

TL;DR: An algorithm for a geometrical and kinematical analysis of meshing and two algorithms for a contact stress analysis, which are distinguished from all other known algorithms, are described.

TL;DR: In this paper, a detailed experimental study of the pushing V-belt CVT dynamics and compare the experimental data with the theoretical predictions of the Carbone, Mangialardi, Mantriota (CMM) model is presented.

TL;DR: In this paper, a singularity-free workspace analysis of the general Gough-Stewart platform is presented. And three procedures are presented to determine singularity free zones in the 3D and 6D workspace, respectively.

TL;DR: In this article, a two-step amplification mechanism with flexure hinges and piezoelectric actuators is designed and verified experimentally by comparing the simulated magnification ratio with experimental data.

TL;DR: In this article, a constraint non-linear optimization procedure based on genetic algorithms has been developed for designing rolling element bearings, based on maximum fatigue life as objective function and associated kinematic constrains have been formulated.

TL;DR: In this paper, a vectorial dimensioning and tolerancing model is proposed to evaluate the impact of tolerances on gear quality, which includes a digital simulation based on Tooth Contact Analysis and Monte Carlo simulation.

TL;DR: In this article, a new method for computer aided tooth contact analysis in mismatched spiral bevel gears is presented, based on the minimization of the function that determines these separations, defined as the distances of corresponding surface points that are the intersection-points of the straight line parallel to the common surface normal in the instantaneous theoretical contact point with the pinion and gear tooth surfaces.

TL;DR: In this paper, a mathematical model able to represent tooth surfaces of a complex gear drive: hypoid gears cut by face-hobbing method is proposed. But the model is limited to a single gear drive.

TL;DR: The purpose of this article is to apply an ant-gradient (AG) algorithm, which is a combination of Ant Colony Optimization and gradient search to the mechanism synthesis problem and to introduce the idea of hybrid task mechanisms.

TL;DR: A searching procedure is developed, which applies genetic algorithms based on evolutionary techniques that has proved to solve synthesis problems of planar mechanisms and has been used for testing a hand robot mechanism, showing that the solutions are accurate and valid for all cases.

TL;DR: In this article, a worm gear drive with improved bearing contact, reduced level of transmission errors and lessened sensitivity to errors of alignment is proposed, where the hob and worm tooth surfaces are mismatched.

TL;DR: In this paper, a finger mechanism that mimics human finger motion with contact aided compliant mechanisms is presented, where the motion mimicking is done through well-known linkage synthesis theories, and is converted to a compliant mechanism to reduce the number of actuators and to achieve compactness.

TL;DR: In this paper, the dexterity of spatial complex degree of freedom parallel manipulators is quantitatively compared for the first time using a novel method for the formulation of Jacobian matrices, and a consistent choice of independent end effector velocities.

TL;DR: In this article, a mathematical model is proposed for determining the forces of contact between a suction cup and an object, and an example of the motion of an object grasped with a vacuum gripper is reported.

TL;DR: In this paper, the dynamic analysis of the rotor-bearing system is studied and supported by oil film journal bearings, and it is concluded that the trajectory of rotor centre and bearing centre have undesirable vibrations.

TL;DR: In this article, a systematic method of verifying the force-closure condition for general 6-DOF cable-driven manipulators with seven cables is presented, which is defined as that the inverse dynamics problem has a feasible solution for any external wrench exerted on the end effector.