Volume 116 Issue 1 | J. Mech. Des. | ASME Digital Collection

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Volume 116, Issue 1

March 1994

ISSN 1050-0472

EISSN 1528-9001

Editorial

Bahram Ravani

J. Mech. Des. March 1994, 116(1): 1–2. doi: https://doi.org/10.1115/1.2919347

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Research Papers

Structural Parameters Which Reduce the Number of Manipulator Configurations

C. Mavroidis, B. Roth

J. Mech. Des. March 1994, 116(1): 3–10. doi: https://doi.org/10.1115/1.2919373

Abstract

View articletitled, Structural Parameters Which Reduce the Number of Manipulator Configurations

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Topics: Manipulators , Chain , Kinematics , End effectors , Polynomials

Repeatable Joint Displacement Generation for Redundant Robotic Systems

Y. S. Chung, M. Griffis, J. Duffy

J. Mech. Des. March 1994, 116(1): 11–16. doi: https://doi.org/10.1115/1.2919335

Abstract

View articletitled, Repeatable Joint Displacement Generation for Redundant Robotic Systems

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Topics: Displacement , End effectors , Kinematics , Manipulators , Redundant manipulators , Robotics , Springs , Stiffness

The Kinematic Control Equations of a Singularity-Free Six-Degree-of-Freedom Manipulator

F. Di Caprio, M. M. Stanisˇic´

J. Mech. Des. March 1994, 116(1): 17–21. doi: https://doi.org/10.1115/1.2919343

Abstract

View articletitled, The Kinematic Control Equations of a Singularity-Free Six-Degree-of-Freedom Manipulator

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Topics: Kinematics , Manipulators , Position control

Kinematic Model for Arthropod Legs and Other Manipulators

S. L. Albright, E. F. Fichter, B. L. Fichter

J. Mech. Des. March 1994, 116(1): 22–27. doi: https://doi.org/10.1115/1.2919352

Abstract

View articletitled, Kinematic Model for Arthropod Legs and Other Manipulators

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Topics: Kinematics , Manipulators , Linkages , Modeling

Determination of the Optimum Cost-Residual Error Trade-off in Robot Calibration

G. Zak, R. G. Fenton, B. Benhabib

J. Mech. Des. March 1994, 116(1): 28–35. doi: https://doi.org/10.1115/1.2919360

Abstract

View articletitled, Determination of the Optimum Cost-Residual Error Trade-off in Robot Calibration

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Topics: Calibration , Errors , Robots , Tradeoffs , Optimization , Fittings , Kinematics , Polynomials , Response surface methodology

Path Feasibility and Modification Based on the PUMA 560 Workspace Analysis

Kuo-Chiang Shao, Kuu-young Young

J. Mech. Des. March 1994, 116(1): 36–43. doi: https://doi.org/10.1115/1.2919372

Abstract

View articletitled, Path Feasibility and Modification Based on the PUMA 560 Workspace Analysis

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Topics: Design , Geometry , Kinematics , Manipulators , Robots

Selective Backdriveability and Its Application to a Robotic Finger Design

M. Driels, Lt. Yavuz Turkegenci

J. Mech. Des. March 1994, 116(1): 44–46. doi: https://doi.org/10.1115/1.2919374

Abstract

View articletitled, Selective Backdriveability and Its Application to a Robotic Finger Design

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Topics: Design , Robotics , Electric motors , End effectors , Engineering prototypes , Finger joints (Carpentry) , Gears , Stiffness , Tendons

Closed-Form Forward Displacement Analysis of the 4–5 In-Parallel Platforms

Wei Lin, C. D. Crane, III, J. Duffy

J. Mech. Des. March 1994, 116(1): 47–53. doi: https://doi.org/10.1115/1.2919375

Abstract

View articletitled, Closed-Form Forward Displacement Analysis of the 4–5 In-Parallel Platforms

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Topics: Displacement , Polynomials

Forward Position Analysis of Nearly General Stewart Platforms

Chang-de Zhang, Shin-Min Song

J. Mech. Des. March 1994, 116(1): 54–60. doi: https://doi.org/10.1115/1.2919376

Abstract

View articletitled, Forward Position Analysis of Nearly General Stewart Platforms

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Topics: Computers , Polynomials , Rotation

Direct Position Analysis of the 4–6 Stewart Platforms

Ning-Xin Chen, Shin-Min Song

J. Mech. Des. March 1994, 116(1): 61–66. doi: https://doi.org/10.1115/1.2919377

Abstract

View articletitled, Direct Position Analysis of the 4–6 Stewart Platforms

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Topics: Aircraft , Design , Polynomials , Robots , Vehicles

Dynamics Decomposition for Stewart Platforms

Zhiming Ji

J. Mech. Des. March 1994, 116(1): 67–69. doi: https://doi.org/10.1115/1.2919378

Abstract

View articletitled, Dynamics Decomposition for Stewart Platforms

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Topics: Dynamic analysis , Dynamics (Mechanics) , Inertia (Mechanics)

Dynamics of a Flexible Rod in a Quick Return Mechanism

Heow-Pueh Lee

J. Mech. Des. March 1994, 116(1): 70–74. doi: https://doi.org/10.1115/1.2919379

Abstract

View articletitled, Dynamics of a Flexible Rod in a Quick Return Mechanism

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Topics: Computer simulation , Dynamics (Mechanics) , Equations of motion , Hamilton's principle , Springs

Measurement of the Dynamic Model of a PUMA 560 Robot Using Experimental Modal Analysis

P. Elosegui

J. Mech. Des. March 1994, 116(1): 75–79. doi: https://doi.org/10.1115/1.2919380

Abstract

View articletitled, Measurement of the Dynamic Model of a PUMA 560 Robot Using Experimental Modal Analysis

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Topics: Dynamic models , Modal analysis , Robots , Frequency response , Eigenvalues , Mode shapes , Structural dynamics

Toward a New Modeling Paradigm for Constrained Mechanical Systems

T. M. Hodges, P. N. Sheth

J. Mech. Des. March 1994, 116(1): 80–87. doi: https://doi.org/10.1115/1.2919381

Abstract

View articletitled, Toward a New Modeling Paradigm for Constrained Mechanical Systems

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Topics: Modeling , Algorithms , Blocks (Building materials) , Design , Kinematic analysis , Multibody systems , Simulation

Solution Rectification in Three Position Motion Generation Synthesis

K. J. Waldron

J. Mech. Des. March 1994, 116(1): 88–91. doi: https://doi.org/10.1115/1.2919382

Abstract

View articletitled, Solution Rectification in Three Position Motion Generation Synthesis

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Topics: Construction , Design , Linkages

Assemblability, Circuits, Branches, Locking Positions, and Rotatability of Input Links of Mechanisms With Four Closures

D. Kohli, Jyun-Cheng Cheng, K. Y. Tsai

J. Mech. Des. March 1994, 116(1): 92–98. doi: https://doi.org/10.1115/1.2919383

Abstract

View articletitled, Assemblability, Circuits, Branches, Locking Positions, and Rotatability of Input Links of Mechanisms With Four Closures

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Topics: Circuits , Cycles , Displacement , Locks (Waterways) , Polynomials , Rotation

Grashof-Type Rotatability Criteria of Spherical Five-Bar Linkages

D. Kohli, A. Khonji

J. Mech. Des. March 1994, 116(1): 99–104. doi: https://doi.org/10.1115/1.2919384

Abstract

View articletitled, Grashof-Type Rotatability Criteria of Spherical Five-Bar Linkages

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Topics: Linkages

Workspace Boundaries of Free-floating Open and Closed Chain Planar Manipulators

Sunil Kumar Agrawal, Rao Garimella

J. Mech. Des. March 1994, 116(1): 105–110. doi: https://doi.org/10.1115/1.2919332

Abstract

View articletitled, Workspace Boundaries of Free-floating Open and Closed Chain Planar Manipulators

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Topics: Chain , Manipulators , Geometry , Design

Numerical Analysis of the Kinematic Working Capability of Mechanisms

Feng-Cheng Yang, E. J. Haug

J. Mech. Des. March 1994, 116(1): 111–118. doi: https://doi.org/10.1115/1.2919333

Abstract

View articletitled, Numerical Analysis of the Kinematic Working Capability of Mechanisms

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Topics: Kinematics , Numerical analysis , Algorithms , Composite materials , Computer software , Computers , Design , Visualization

Numerical Analysis of the Kinematic Dexterity of Mechanisms

Feng-Cheng Yang, E. J. Haug

J. Mech. Des. March 1994, 116(1): 119–126. doi: https://doi.org/10.1115/1.2919334

Abstract

View articletitled, Numerical Analysis of the Kinematic Dexterity of Mechanisms

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Topics: Kinematics , Numerical analysis , Computers , Composite materials , Algorithms , Nonlinear equations

An Energy-Based General Method for the Optimum Synthesis of Mechanisms

R. Avile´s, S. Navalpotro, E. Amezua, A. Herna´ndez

J. Mech. Des. March 1994, 116(1): 127–136. doi: https://doi.org/10.1115/1.2919336

Abstract

View articletitled, An Energy-Based General Method for the Optimum Synthesis of Mechanisms

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Topics: Computation , Equilibrium (Physics) , Error functions , Kinematics , Newton's method , Stiffness

The Transmissivity and Manipulability of Spatial Mechanisms

M. J. Tsai, H. W. Lee

J. Mech. Des. March 1994, 116(1): 137–143. doi: https://doi.org/10.1115/1.2919337

Abstract

View articletitled, The Transmissivity and Manipulability of Spatial Mechanisms

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Topics: Screws

A Unified Theory for Kinematic Synthesis

P. A. James, B. Roth

J. Mech. Des. March 1994, 116(1): 144–154. doi: https://doi.org/10.1115/1.2919338

Abstract

View articletitled, A Unified Theory for Kinematic Synthesis

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Topics: Kinematics , Unified field theories , Numerical analysis

Position-Force Synthesis of Closed-Loop Linkages

C. Huang, B. Roth

J. Mech. Des. March 1994, 116(1): 155–162. doi: https://doi.org/10.1115/1.2919339

Abstract

View articletitled, Position-Force Synthesis of Closed-Loop Linkages

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Topics: Linkages , Design , Linear algebra , Screws

Simplified Equations for the Synthesis of Four-Bar Path Generator With Specified Tangents at Two Cusps

Wen-Miin Hwang, Chi-Feng Chang

J. Mech. Des. March 1994, 116(1): 163–165. doi: https://doi.org/10.1115/1.2919340

Abstract

View articletitled, Simplified Equations for the Synthesis of Four-Bar Path Generator With Specified Tangents at Two Cusps

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Topics: Generators , Design , Kinematics , Linkages

Optimization of a Spherical Five-Bar Parallel Drive Linkage

M. Ouerfelli, V. Kumar

J. Mech. Des. March 1994, 116(1): 166–173. doi: https://doi.org/10.1115/1.2919341

Abstract

View articletitled, Optimization of a Spherical Five-Bar Parallel Drive Linkage

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Topics: Linkages , Optimization , Kinematics , Geometry , Manipulators

Analysis and Optimal Synthesis of the RSCR Spatial Mechanisms

G. K. Ananthasuresh, S. N. Kramer

J. Mech. Des. March 1994, 116(1): 174–181. doi: https://doi.org/10.1115/1.2919342

Abstract

View articletitled, Analysis and Optimal Synthesis of the RSCR Spatial Mechanisms

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Topics: Cylinders , Design , Geometry , Gradient methods , Linkages , Mechanical admittance , Optimization , Visualization

On Identification and Canonical Numbering of Pin-Jointed Kinematic Chains

Jae Kyun Shin, S. Krishnamurty

J. Mech. Des. March 1994, 116(1): 182–188. doi: https://doi.org/10.1115/1.2919344

Abstract

View articletitled, On Identification and Canonical Numbering of Pin-Jointed Kinematic Chains

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Topics: Kinematic chains , Chain , Algorithms

Development of a Standard Code for Colored Graphs and Its Application to Kinematic Chains

Jae Kyun Shin, S. Krishnamurty

J. Mech. Des. March 1994, 116(1): 189–196. doi: https://doi.org/10.1115/1.2919345

Abstract

View articletitled, Development of a Standard Code for Colored Graphs and Its Application to Kinematic Chains

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Topics: Kinematic chains , Generators , Algorithms , Computers

Analysis of Errors in Precision for Closed Loop Mechanisms

Psang Dain Lin, Jen Fun Chen

J. Mech. Des. March 1994, 116(1): 197–203. doi: https://doi.org/10.1115/1.2919346

Abstract

View articletitled, Analysis of Errors in Precision for Closed Loop Mechanisms

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Topics: Algorithms , Design , Dimensions , Error analysis , Errors , Machinery , Shapes

Errors in Constant-Velocity Shaft Couplings

I. S. Fischer, P. M. Remington

J. Mech. Des. March 1994, 116(1): 204–209. doi: https://doi.org/10.1115/1.2919348

Abstract

View articletitled, Errors in Constant-Velocity Shaft Couplings

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Topics: Couplings , Errors , Design , Engineers , Geometry , Manufacturing , Rotation , Wear

Instantaneous Kinematics of a Tangent-Plane in Two-Parameter Space Motion

D. P. Sathyadev, A. H. Soni

J. Mech. Des. March 1994, 116(1): 210–214. doi: https://doi.org/10.1115/1.2919349

Abstract

View articletitled, Instantaneous Kinematics of a Tangent-Plane in Two-Parameter Space Motion

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Topics: Kinematics

Assembling Complete Pole Configurations for (Over)Constrained Planar Mechanisms

E. A. Dijksman

J. Mech. Des. March 1994, 116(1): 215–225. doi: https://doi.org/10.1115/1.2919350

Abstract

View articletitled, Assembling Complete Pole Configurations for (Over)Constrained Planar Mechanisms

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Topics: Poles (Building) , Linkages , Mechanical admittance , Theorems (Mathematics)

A Quintic Spline Interpolator for Motion Command Generation of Computer-Controlled Machines

D. C. H. Yang, Fu-Chung Wang

J. Mech. Des. March 1994, 116(1): 226–231. doi: https://doi.org/10.1115/1.2919351

Abstract

View articletitled, A Quintic Spline Interpolator for Motion Command Generation of Computer-Controlled Machines

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Topics: Computers , Machinery , Splines , Composite materials , Torque

Motion Conversion by Means of Perturbation of Elastic Field

Huang Da Xu

J. Mech. Des. March 1994, 116(1): 232–237. doi: https://doi.org/10.1115/1.2919353

Abstract

View articletitled, Motion Conversion by Means of Perturbation of Elastic Field

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Topics: Actuators , Cycles , Density , Engines , Motors , Piezoelectric actuators , Torque

The Elastic-Dynamic Modeling of a Press Feed Mechanism

C. Chassapis, G. G. Lowen

J. Mech. Des. March 1994, 116(1): 238–247. doi: https://doi.org/10.1115/1.2919354

Abstract

View articletitled, The Elastic-Dynamic Modeling of a Press Feed Mechanism

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Topics: Automotive brakes , Deflection , Differential equations , Elasticity , Equations of motion , Free vibrations , Hamilton's principle , Indexing (Machining) , Levers , Linkages

Computer Simulation of a Press Feed Mechanism and Experimental Confirmation

C. Chassapis, G. G. Lowen

J. Mech. Des. March 1994, 116(1): 248–256. doi: https://doi.org/10.1115/1.2919355

Abstract

View articletitled, Computer Simulation of a Press Feed Mechanism and Experimental Confirmation

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Topics: Computer simulation , Data acquisition systems , Equations of motion , Levers , Rollers , Simulation , Strain gages

A New Damping Model for Nonlinear Stiffness Systems With Variable Preload Displacements and Constant Amplitude Decay Ratios

T. Xu, G. G. Lowen

J. Mech. Des. March 1994, 116(1): 257–263. doi: https://doi.org/10.1115/1.2919356

Abstract

View articletitled, A New Damping Model for Nonlinear Stiffness Systems With Variable Preload Displacements and Constant Amplitude Decay Ratios

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Topics: Damping , Stiffness , Displacement , Cycles , Energy dissipation

Steady-State Responses of an RSRC-Type Spatial Flexible Linkage

R. Y. Chang, C. K. Sung

J. Mech. Des. March 1994, 116(1): 264–269. doi: https://doi.org/10.1115/1.2919357

Abstract

View articletitled, Steady-State Responses of an RSRC-Type Spatial Flexible Linkage

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Topics: Linkages , Steady state , Boundary-value problems , Equations of motion , Kinematic analysis , Kinematics , Variational principles , Vibration

On the Nomenclature, Classification, and Abstractions of Compliant Mechanisms

A. Midha, T. W. Norton, L. L. Howell

J. Mech. Des. March 1994, 116(1): 270–279. doi: https://doi.org/10.1115/1.2919358

Abstract

View articletitled, On the Nomenclature, Classification, and Abstractions of Compliant Mechanisms

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Topics: Compliant mechanisms , Rigid-body mechanisms , Ambiguity , Engineering design processes , Mechanical admittance , Noise (Sound) , Wear

A Method for the Design of Compliant Mechanisms With Small-Length Flexural Pivots

L. L. Howell, A. Midha

J. Mech. Des. March 1994, 116(1): 280–290. doi: https://doi.org/10.1115/1.2919359

Abstract

View articletitled, A Method for the Design of Compliant Mechanisms With Small-Length Flexural Pivots

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Topics: Compliant mechanisms , Design , Deflection , Algorithms , Energy storage , Engineering design processes , Errors , Finite element analysis , Gates (Closures) , Rigid-body mechanisms

Evaluation of Parametric Vibration and Stability of Flexible Cam-Follower Systems

A. I. Mahyuddin, A. Midha, A. K. Bajaj

J. Mech. Des. March 1994, 116(1): 291–297. doi: https://doi.org/10.1115/1.2919361

Abstract

View articletitled, Evaluation of Parametric Vibration and Stability of Flexible Cam-Follower Systems

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Topics: Stability , Vibration , Differential equations , Algorithms , Camshafts , Equations of motion , Trains , Valves , Vibration equipment

Influence of Varying Cam Profile and Follower Motion Event Types on Parametric Vibration and Stability of Flexible Cam-Follower Systems

A. I. Mahyuddin, A. Midha

J. Mech. Des. March 1994, 116(1): 298–305. doi: https://doi.org/10.1115/1.2919362

Abstract

View articletitled, Influence of Varying Cam Profile and Follower Motion Event Types on Parametric Vibration and Stability of Flexible Cam-Follower Systems

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Topics: Stability , Vibration , Algorithms , Camshafts , Damping , Differential equations , Errors , Excitation , Trains , Valves

The Design of Cam Mechanisms With Translating Flat-Face Followers Under Curvature Constraints

J. Angeles, S. K. Saha, C. S. Lo´pez-Caju´n

J. Mech. Des. March 1994, 116(1): 306–310. doi: https://doi.org/10.1115/1.2919363

Abstract

View articletitled, The Design of Cam Mechanisms With Translating Flat-Face Followers Under Curvature Constraints

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Topics: Design , Displacement , Disks , Optimization , Splines , Stress

The Design Optimization of Cam Mechanisms With Oscillating Flat-Face Followers Under Curvature Constraints

J. Angeles, S. K. Saha, M. Gonzalez-Palacios, C. S. Lopez-Cajun

J. Mech. Des. March 1994, 116(1): 311–314. doi: https://doi.org/10.1115/1.2919364

Abstract

View articletitled, The Design Optimization of Cam Mechanisms With Oscillating Flat-Face Followers Under Curvature Constraints

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Topics: Design , Optimization , Disks , Stress

Synthesis of Contact Surfaces of Spherical Cam-Oscillating Roller-Follower Mechanisms: A General Approach

M. A. Gonza´lez-Palacios, J. Angeles

J. Mech. Des. March 1994, 116(1): 315–319. doi: https://doi.org/10.1115/1.2919365

Abstract

View articletitled, Synthesis of Contact Surfaces of Spherical Cam-Oscillating Roller-Follower Mechanisms: A General Approach

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Topics: Rollers , Geometry , Indexing (Machining) , Pressure

Application of the Theory of Envelope to the Determination of Camoid Profiles With Translating Followers

Der Min Tsay, Guan Shyong Hwang

J. Mech. Des. March 1994, 116(1): 320–325. doi: https://doi.org/10.1115/1.2919366

Abstract

View articletitled, Application of the Theory of Envelope to the Determination of Camoid Profiles With Translating Followers

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Topics: Kinematics , Machining , Pressure

Signal Flow Graphs for Spatial Gear Trains

R. Ma, K. C. Gupta

J. Mech. Des. March 1994, 116(1): 326–331. doi: https://doi.org/10.1115/1.2919367

Abstract

View articletitled, Signal Flow Graphs for Spatial Gear Trains

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Topics: Flow (Dynamics) , Gear trains , Signals , Gears , Planetary gears , Trains , Circuits , Equations of motion , Inspection , Statistics

Efficiency of a Multiple Flywheel Recuperation System

P. Marinov, S. Pavlov, V. Draganov

J. Mech. Des. March 1994, 116(1): 332–336. doi: https://doi.org/10.1115/1.2919368

Abstract

View articletitled, Efficiency of a Multiple Flywheel Recuperation System

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Topics: Flywheels , Design , Dynamic models , Energy dissipation , Kinetic energy , Storage

Technical Briefs

Recursive Formulation for the Inverse Kinematics of Redundant Robots Performing Tasks with Priority Order

R. Garziera

J. Mech. Des. March 1994, 116(1): 337–338. doi: https://doi.org/10.1115/1.2919369

Abstract

View articletitled, Recursive Formulation for the Inverse Kinematics of Redundant Robots Performing Tasks with Priority Order

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Topics: Kinematics , Robots , Algorithms , Computers , Differential equations

Linearized Inverse Dynamic Models for Robot Manipulators With Varying Link Parameters

Chang-Jin Li, T. S. Sankar

J. Mech. Des. March 1994, 116(1): 338–343. doi: https://doi.org/10.1115/1.2919370

Abstract

View articletitled, Linearized Inverse Dynamic Models for Robot Manipulators With Varying Link Parameters

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Topics: Dynamic models , Manipulators , Algorithms , Kinematics , Degrees of freedom , Robots , Uncertainty

Invariant Link Rotatability of N-Bar Kinematic Chains

J. H. Shyu, Kwun-Lon Ting

J. Mech. Des. March 1994, 116(1): 343–347. doi: https://doi.org/10.1115/1.2919371

Abstract

View articletitled, Invariant Link Rotatability of N-Bar Kinematic Chains

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Topics: Kinematic chains , Chain

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