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TECHNICAL PAPERS

Analytic Formulation of Reciprocal Screws and Its Application to Nonredundant Robot Manipulators

[+] Author and Article Information
Doik Kim

Wan Kyun Chung

Robotics & Bio-Mechatronics Lab., Department of Mechanical Engineering, POSTECH(Pohang University of Science & Technology) Nam-Gu Hyoja-Dong San 31, Pohang, KyongBuk, 790-784, South Korea

J. Mech. Des 125(1), 158-164 (Mar 21, 2003) (7 pages) doi:10.1115/1.1539508 History: Received June 01, 2001; Online March 21, 2003
Copyright © 2003 by ASME
Topics: Screws , Manipulators
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References

Ball, R. S., 1900, A Treatise on the Theory of Screws, Cambridge University Press.
Roth, B., 1984, “Screws, Motors, and Wrenches That Cannot Be Bought in a Hardware Store,” Robotics Research: The First International Symposium, pp. 679–693, MIT Press.
Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford Science Publications, Oxford, UK.
Sugimoto,  K., and Duffy,  J., 1982, “Application of Linear Algebra to Screw Systems,” Mech. Mach. Theory, 17(1), pp. 73–83.
Agrawal, S. K., 1990, “Rate Kinematics of In-Parallel Manipulator Systems,” IEEE Int. Conf. on Robotics and Automation, pp. 104–109.
Agrawal,  S. K., and Roth,  B., 1992, “Statics of In-Parallel Manipulator Systems,” ASME J. Mech. Des., 114, pp. 564–568.
Kumar,  V., 1992, “Instantaneous Kinematics of Parallel-Chain Robotic Mechanisms,” ASME J. Mech. Des., 114, Sept., pp. 349–358.
Huang,  C., and Roth,  B., 1994, “Position-Force Synthesis of Closed-Loop Linkages,” ASME J. Mech. Des., 116, March, pp. 155–162.
Collins,  C. L., and Long,  G. L., 1995, “The Singularity Analysis of an In-Parallel Hand Controller for Force-Reflected Teleoperation,” IEEE Trans. Rob. Autom., 11(5), Oct., pp. 661–669.
Etemadi-Zanganeh,  K., and Angeles,  J., 1995, “Instantaneous Kinematics of General Hybrid Parallel Manipulators,” ASME J. Mech. Des., 117, Dec., pp. 581–588.
Tsai, L. W., 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, Inc.
Kim,  D., and Chung,  W., 1999, “Analytic Singularity Equation and Analysis of Six-dof Parallel Manipulators Using Local Structurization Method,” IEEE Trans. Rob. Autom., 15(4), Aug., pp. 612–622.
Lipkin,  H., and Duffy,  J., 1985, “The Elliptic Polarity of Screws,” ASME J. Mech., Transm., Autom. Des., 107, Sept., pp. 377–387.

Figures

Grahic Jump Location
Two stages for the leg isolation of parallel manipulators
Grahic Jump Location
A leg of a parallel manipulator

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