... eigenvalues and eigenfunctions Jacobian matrices rotors stability systems engineering robust eigenvalue design eigenvalue sensitivity tolerance stability The dynamic behavior of many engineering systems is closely related to the eigenvalue of the Jacobian matrix, which is often called...

... redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation. 12 06 2007 22 08 2008 08 10 2008 Jacobian matrices patient rehabilitation robot dynamics robot kinematics The use of robots...

... of constrained wrench of these PKMs are analyzed, and the poses of the active/constrained forces are determined. Second, based on the principle of virtue work and the determined active/constrained forces, the formulas are derived for solving the 6 × 6 Jacobian matrices of these PKMs and the stiffness matrices...

..., the Jacobian matrices of the manipulators are derived, and different types of singularities are analyzed and demonstrated. It is shown that the vast majority of singularities can be avoided by using kinematic redundancy. 4DOF kinematically redundant planar parallel manipulator and its locus of solutions...

... turbines Jacobian matrices machine tools manipulator kinematics In the past, most research focused on the nonredundant parallel manipulator. However, these manipulators have smaller workspace, lower dexterity, and more singular configurations ( 1 2 3 ). Moreover, singularities make the limited...

.... 661 – 668 . Buskiewicz , J. , 2006 , “ A Method of Optimization of Solving a Kinematic Problem With the Use of Structural Analysis Algorith ,” Mech. Mach. Theory 0094-114X , 41 , pp. 827 – 837 . Pond , G. , and Carretero , J. A. , 2006 , “ Formulating Jacobian Matrices...

... . Tsai , L. W. , 2000 , “ Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work ,” ASME J. Mech. Des. 1050-0472 10.1115/1.533540 , 122 ( 1 ), pp. 3 – 9 . Pond , G. , and Carretero , J. A. , 2006 , “ Formulating Jacobian Matrices...

... with five DOFs are presented to illustrate the use of the unified approach to solve their inverse kinematics and the driving forces. The solving results are verified by the simulation mechanisms. force control geometry Jacobian matrices manipulator kinematics parallel manipulator kinematics...

... the application of the proposed approach. 10 11 2005 05 06 2006 manipulator kinematics Jacobian matrices Although parallel mechanisms have several advantages over serial architectures, their design is more complex due to their kinematics. In particular, the determination...

... Jacobian matrices kinematic influence coefficient lower-mobility parallel mechanism Jacobian Hessian Hunt , K. H. , 1983 , “ Structural Kinematics of In-parallel-actuated Robot-arms ,” ASME J. Mech., Transm., Autom. Des. 0738-0666 , 105 ( 4 ), pp. 705 – 712 . Song...

... and the approach presented apply to a large class of single-loop overconstrained linkages. The criterion is reformulated, in terms of the well-known Jacobian matrices, for exceptional linkages and extended to linkages with partitioned mobility and trivial linkages. Several examples are included. Grübler...

... and the parameters’ effect on the compliance and presents a suitable parameter range for design of the compliant platform device. industrial manipulators assembling Jacobian matrices springs (mechanical) eigenvalues and eigenfunctions design engineering compliance analysis platform leaf-spring...

.... , eds., Kluwer Academic Publishers , Dordrecht, pp. 265 – 272 . 02 05 2005 19 08 2005 manipulator kinematics design engineering Jacobian matrices inverse problems In spite of the enormous progress made in the area of robot kinematics since the eighties, a broadly...

... ), pp. 163 – 176 . Miller , K. , 2002 , “ Maximization of Workspace Volume of 3-DOF Spatial Parallel Manipulators ,” ASME J. Mech. Des. 1050-0472 10.1115/1.1462621 , 124 ( 4 ), p. 347 . 17 02 2005 24 07 2005 CAD manipulator kinematics Jacobian matrices...

... be used for optimal design and show that their calculation is most challenging. 19 05 2005 20 06 2005 Jacobian matrices design engineering robots We will use a relatively general definition of parallel robots, focusing on nonredundant mechanisms. A parallel robot is defined...

...Haidong Li; Clément M. Gosselin; Marc J. Richard; Boris Mayer St-Onge The determination of the 6D singularity locus of the general Gough-Stewart platform is discussed in this article. The derivation of the velocity equation and the corresponding Jacobian matrices is first presented. Then a new...

...; revised April 30, 2004. Associate Editor: M. Raghavan. 07 November 2003 30 April 2004 02 03 2005 Jacobian matrices robot kinematics optimisation calibration Recently, there is increasing interest in developing parallel kinematic machines (PKMs) based on parallel...

... 2004 02 03 2005 Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received March 26, 2003; revised April 20, 2004. Associate Editor: C. Mavroidis. manipulators bifurcation Jacobian matrices position control...

... in the JOURNAL OF MECHANICAL DESIGN . Manuscript received December 22, 2003; revision received April 23, 2004. Associate Editor: D. Kazmer. 22 December 2003 23 April 2004 02 03 2005 manipulators tolerance analysis Jacobian matrices optimisation sensitivity analysis stability...

... robot manipulators have higher stiffness and motion accuracy than serial manipulators due to the in-parallel application of the branches on the mobile platform. manipulators actuators failure analysis Jacobian matrices 14 July 2003 25 February 2004 14 02 2005...