Kinematics of Robot Mechanisms with Closed Actuating Loops

The International Journal of Robotics Research

Volumn 9, Issue 6, 1990, Pages 19-24

  Fanghella, P ^a   Galletti, C ^a  

^a UNIVERSITY OF GENOA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

MATHEMATICAL TECHNIQUES - NUMERICAL METHODS; MECHANISMS; ROBOTS, INDUSTRIAL - MANIPULATORS; STRUCTURAL ANALYSIS;

ASSUR'S GROUPS; CLOSED ACTUATING LOOPS; MULTILOOP CHAINS; ROBOT MECHANISMS; SPATIAL MECHANISMS; STRUCTURE BASED APPROACH;

KINEMATICS;

EID: 0025550073     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/027836499000900602     Document Type: Article

References (20)

1. Alizade, R.I., Hajiyev, E.T., and Sandor, G.N. 1985. Type synthesis of spatial mechanisms on the basis of spatial single loop structural groups. Mech. Machine Theory 20(2):95-101.
2. Andre, P., Kauffmann, J.M., Lhote, F., and Taillard, J.P. 1983. Les Robots—Tome 4. Paris: Hermes Publishing.
3. Artobolevskii, I.I. 1975. Theory of Mechanisms and Machines. Moscow: MIR.
4. Davies, T.H. 1983. Mechanical networks I, II and III. Mech. Machine Theory 18(2):95-112.
5. Djoldasbekov, U.A., and Slutskii, L.I. 1983. Manipulators with variable link lengths: Kinematics and possibilities. Mech. Machine Theory 18(4):271-274.
6. Earl, C.F., and Rooney, J. 1983. Some kinematic structures for robot manipulator designs. Trans. ASME J. Mech. Trans. Automat. Des. 105(1):15-22.
7. Fanghella, P. 1988. Kinematics of spatial linkages by group algebra: A structure-based approach. Mech. Machine Theory 23(3):171-183.
8. Fanghella, P., and Galletti, C. 1985. Computer-aided methods for the synthesis of mechanism kinematic models: Planar and spatial cases. In R. A. Adey, ed.: Proc. 4th Int. Conf on Engineering Software. London: Springer-Verlag, pp. 16.17-16.27.
9. Fichter, E.F. 1986. A Stewart platform-based manipulator: General theory and practical construction. Int. J. Robot. Res. 5(2):157-182.
10. Freeman, R.A., and Tesar, D. 1982. The generalized coordinate selection for the dynamics of complex planar mechanical systems. Trans. ASME J. Mech. Des. 104(1):206-217.
11. Freudenstein, F., Longman, R.W., and Chen, C.-K. 1984. Kinematic analysis of robotic bevel-gear trains. Trans. ASME J. Mech. Trans. Automat. Des. 106(3):371-375.
12. Galletti, C. 1986. A note on modular approaches to planar linkage kinematic analysis. Mech. Machine Theory 21(5):385-391.
13. Hervé, J.M. 1978. Analyse structurelle des mechanismes par groupe des deplacements. Mech. Machine Theory 13(6):437-450.
14. Hunt, K.H. 1983. Structural kinematics of in-parallel-actuated robot-arms. Trans. ASME J. Mech. Trans. Automat. Des. 105(4):705-712.
15. Manolescu, N.I. 1968. For a united point of view in the study of the structural analysis of kinematic chains and mechanisms. J. Mech. 3(3):149-169.
16. Ryan, A.D., and Hunt, K.H. 1985. Adjustable straight-line linkages—possible legged-vehicle applications. Trans. ASME J. Mech. Trans. Automat. Des. 107(2):256-261.
17. Song, S.M., Waldron, K.J., and Kinzel, G.L. 1985. Computer-aided geometric design of legs for a walking vehicle. Mech. Machine Theory 20(6):587-596.
18. Suzuki, T., and Kohno, M. 1984. The flexible parts feeder which helps a robot assemble automatically. In Heginbotham, W., ed.: Programmable Assembly. Bedford, UK: IFS Publications, Springer-Verlag, pp. 267-280.
19. Tsai, Y.C., and Soni, A.H. 1985. Workspace synthesis of 3R, 4R, 5R and 6R robots. Mech. Machine Theory 20(6):555-563.
20. Warnecke, H.J., and Schraft, R.D. 1982. Industrial Robots: Application Experience. Bedford, UK: IFS Publications.