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Robot Analysis: The Mechanics of Serial and Parallel Manipulators
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In this paper, Jacobian analysis of serial manipulators and Jacobian Jacobian Analysis of parallel manipulators is used to analyze the structural and stiffness properties of a serial manipulator.Abstract:
Position Analysis of Serial Manipulators Position Analysis of Parallel Manipulators Jacobian Analysis of Serial Manipulators Jacobian Analysis of Parallel Manipulators Statics and Stiffness Analysis Wrist Mechanisms Tendon-Driven Manipulators Dynamics of Serial Manipulators Dynamics of Parallel Manipulators Appendices Indexread more
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Jacobian Analysis of Limited-DOF Parallel Manipulators
Sameer A. Joshi,Lung-Wen Tsai +1 more
TL;DR: In this article, the authors presented a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators, which is defined as a spatial parallel manipulator with less than six degrees of freedom.
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An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots
Kai Xu,Nabil Simaan +1 more
TL;DR: The presented study allows force sensing in challenging environments where placing force sensors at the distal end of a robot is not possible due to limitations such as size and MRI compatibility.
Journal ArticleDOI
Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures
Yuefa Fang,Lung-Wen Tsai +1 more
TL;DR: A systematic approach is developed for the structural synthesis of a class of four-degrees-of-freedom and 5-DoF overconstrained parallel manipulators with identical serial limbs using the theory of screws and reciprocal screws.
Journal ArticleDOI
Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory
TL;DR: In this paper, a detailed study of the singular configurations of 3-DOF planar parallel mechanisms with three identical legs is presented, where only prismatic and revolute joints are considered.
Journal ArticleDOI
Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator
Lung-Wen Tsai,Sameer A. Joshi +1 more
TL;DR: In this paper, the structural characteristics associated with parallel manipulators are investigated and a class of 3 degree-of-freedom (3-UPUF) manipulators with only translational degrees of freedom are identified.