Kinematic synthesis of RPS serial chains

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2 B, Issue , 2003, Pages 1041-1047

  Su, Hai Jun ^a   McCarthy, J Michael ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SOFTWARE; DEGREES OF FREEDOM (MECHANICS); EIGENVALUES AND EIGENFUNCTIONS; INTERPOLATION; MANIPULATORS; ROBOTICS;

KINEMATIC SYNTHESIS; MONOMIALS;

MECHANICAL ENGINEERING;

EID: 1842812140     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/detc2003/dac-48813     Document Type: Conference Paper

References (11)

1. Chen, P. and Roth, B., 1967, "Design Equations for Finitely and Infinitesimally Separated Position Synthesis of Binary Link and Combined Link Chains," ASME J. Engineering for Industry 91:209-219.
2. Kim, H. S., Tsai L.-W., "Kinematics Synthesis of Spatial 3-RPS Parallel Manipulators," ASME Design Engineering Technical Conference, Montreal, Canada, Sept.29-Oct.02, 2002.
3. Lee, E., and Mavroidis, D., 2002, "Solving the Geometric Design Problem of Spatial 3R Robot Manipulators Using Polynomial Homotopy Continuation," ASME J. Mechanical Design, 124(4):652-661.
4. Morgan, A. P, Sommese, A. J, and Wampler, C. W., 1995, "A Product-Decomposition Bound for Bezout Numbers," SIAM J. of Numerical Analysis, 32(4): 1308-1325.
5. Nielsen, J. and Roth, B., "Elimination Methods For Spatial Synthesis "Computational Kinematics (eds. J.-P. Merlet and B. Ravani), Kluwer Academic Press, Netherlands, 1995.
6. Su, H.-J., Wampler, C., McCarthy, J. M., "Geometric Design of Cylindric PRS Serial Chains," ASME Design Engineering Technical Conference, Montreal, Canada, Sept.29-Oct.02, 2003.
7. Su, H.-J., Collins, C., McCarthy, J. M., "An Extensible Java Applet for Spatial Linkage Synthesis," ASME Design Engineering Technical Conference, Chicago, Sept. 02-06, 2003.
8. Tsai, L.-W., 1972, "Design of Open Loop Chains for Rigid Body Guidance," Ph.D. Thesis, Department of Mechanical Engineering, Stanford University.
9. Tsai, L.-W., and Roth, B., 1972, "Design of Dyads with Helical, Cylindrical, Spherical, Revolute and Prismatic Joints," Mechanism and Machine Theory, 7:591-598.
10. Verscheide, J., 1999, "Algorithm 795: PHCpack: A General-Purpose Solver for Polynomial Systems by Homotopy Continuation," ACM Trans Mathematical Software 25(2):251-276.
11. Wampler, C., 2002, "Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops," ASME Design Engineering Technical Conference, Montreal, Canada, Sept.29-Oct.02, 2002.