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TECHNICAL PAPERS

RCC Characteristics of Planar/Spherical Three Degree-of-Freedom Parallel Mechanisms With Joint Compliances

[+] Author and Article Information
Whee-kuk Kim

Department of Control and Instrumentation Engineering, Korea University, 208 Seo-chang Dong, Chochiwon Eup, Yeo-ki kun, Chung Nam, Korea 339-700E-mail: wheekuk@tiger.korea.ac.kr

Byung-Ju Yi

School of Electrical Engineering and Computer Science, Hanyang University, 1271 Sa 1-dong, Ansan, Kyungki-do, Korea 429-791

Whang Cho

Department of Control and Instrumentation Engineering, Kwang-Woon University, Weol-Kye dong, Nowon Ku, Seoul, Korea

J. Mech. Des 122(1), 10-16 (Jan 01, 2000) (7 pages) doi:10.1115/1.533541 History: Received January 01, 1997; Revised January 01, 2000
Copyright © 2000 by ASME
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References

De Fazio,  T. L., Seltzer,  D. S., and Whitney,  D. E., 1984, “The Instrumented Remote Center Compliance,” The Industrial Robot, 11, No. 4, pp. 238–242.
Brussel, H. V., Thielemans, H., and Simons, J., 1978, “Further Developments of the Active Adaptive Compliant Wrist (AACW) for Robot Assembly,” Proc. Int’l. Symp. on Industrial Robots, SME, 1 , pp. 377–384.
Cutkosky,  M. R., and Kao,  Imin, 1989, “Computing and Controlling the Compliance of a Robotic Hand,” IEEE Trans. on Rob. Auto., 5, No. 2, pp. 151–165.
Cutkosky,  M. R., and Wright,  P. K., 1986, “Active Control of a Compliant Wrist in Manufacturing Tasks,” Transactions of the ASME Journal of Eng. for Ind., 108, No. 1, pp. 36–43.
Whitney,  D. E., 1982, “Quasi-Static Assembly of Compliantly Supported Rigid Parts,” J. Dyn. Syst., Meas., Control, 104, pp. 65–77.
Whitney, D. E., 1986, “Remote Center Compliance,” in Encyclopedia of Robotics System and Control, 2 , edited by J. J. Diponio and Y. Hasegawa, published by Industrial Training Corporation, pp. 1316–1324.
McCallion, H., Alexander, K. V., and Pham, D. T., 1980, “Aid for Automatic Assembly,” 1st Int’1. Conf. on Assembly Automation, 1 , pp. 313–323.
Peshkin,  M. A., 1990, “Programmed Compliance for Error Corrective Assembly,” IEEE Trans. Rob. Autom., 6, No. 4, pp. 474–482.
Loncaric,  J., 1987, “Normal Form of Stiffness and Compliance Matrices,” Trans. on IEEE J. Robotics and Automation, RA-3(6), pp. 567–572.
Lipkin, H., and Patterson, T., 1992, “Generalized Center of Compliance and Stiffness,” Proceedings of IEEE Int’1 Conf. on Robotics and Automation, 2 , pp. 1251–1256.
Loncaric, J., 1985, Geometrical Analysis of Compliant Mechanics in Robotics, Ph.D. Thesis, Harvard University.
Freeman, R. A., and Tesar, D., 1988, “Dynamic Modeling of Serial and Parallel Mechanism/Robotic Systems, Part I-Methodology, Part II-Applications,” Proceedings of 20th ASME Mechanisms Conference, Orlando FL, DE-Vol. 15-3, pp. 7–27.
Yi,  Byung-Ju, and Freeman,  R. A., 1992, “Synthesis of Actively Adjustable Springs by Antagonistic Redundant Actuation,” J. Dyn. Syst., Meas., Control, 114, pp. 454–461.

Figures

Grahic Jump Location
DOF planar mechanism with three revolute joint compliances
Grahic Jump Location
Kinematic description of 3 DOF spherical mechanism
Grahic Jump Location
Compliance characteristics of planar mechanism with revolute joint compliance
Grahic Jump Location
3 DOF spherical mechanism for rαb1=180 deg
Grahic Jump Location
Compliance characteristics of spherical mechanism for α12=60 deg

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