The desion of a chain of spherical Stephenson mechanisms for a gearless robotic pitch-roll wrist

Journal of Mechanical Design

Volumn 128, Issue 2, 2006, Pages 422-429

  Hernandez, S ^a   Bai, S ^a   Angeles, J ^a  

^a MCGILL UNIVERSITY   (Canada)

Author keywords

Dimensional synthesis; Nonlinear least square optimization; Pitch roll wrists; Spherical Stephenson mechanism

Indexed keywords

COLLISION AVOIDANCE; CONTROL SYSTEM SYNTHESIS; KINEMATICS; MANIPULATORS; NONLINEAR CONTROL SYSTEMS; OPTIMIZATION; POLYNOMIALS; STIFFNESS; VECTORS;

DIMENSIONAL SYNTHESIS; NONLINEAR LEAST-SQUARE OPTIMIZATION; PITCH-ROLL WRISTS; SPHERICAL STEPHENSON MECHANISMS;

ROBOTICS;

EID: 33645903566     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2167653     Document Type: Article

References (31)

1. Howard, R. D., 2002, "Design of a Robotic Wrist and Tool-Exchange Mechanism for Satellite Servicing," Proc. 36th Aerospace Mechanism Symposium, NASA Glenn Research Center. The PDF file of this reference was downloaded from: http://www.ssl.umd.edu/publications/. Unfortunately, this file does not include place and page numbers.
2. Yang, D. C. H., Lin, E. Y., and Cheng, S. Y., 1990, "Primary Workspace of Industrial Robots With Roll-Pitch-Yaw Wrists," ASME J. Mech. Des., 112(3), pp. 347-353.
3. Rauchfuss, J. W., and Yang, D. C. H., 2000, "A Geometric Approach for Determining Exact Point Accessibility of Robotic Manipulations," ASME J. Mech. Des., 122(3), pp. 287-293.
4. Tsai, L.-W., 1988, "The Kinematics of Spatial Robotic Bevel-Gear Trains," IEEE J. Rob. Autom., 4(2), pp. 150-156.
5. Yang, D., and Rauchfuss, J., 2001, "A New Zero-Dimension Robot Wrist: Design and Accessibility Analysis," Int. J. Robot. Res., 20(2), pp. 163-173.
6. Gosselin, C. J., and Cloutier, L., 1993, "The Generating Space for Parabolic Motion Error Spiral Bevel Gears Cut by Gleason Method," ASME J. Mech. Des., 115(3), pp. 483-489.
7. Wiitala, J. M., and Stanisic, M. M., 2000, "Design of an Overconstrained and Dextrous Spherical Wrist," ASME J. Mech. Des., 122(3), pp. 347-353.
8. Bidault, F., Teng, C. P., and Angeles, J., 2001, "Structural Optimization of a Spherical Parallel Manipulator Using a Two-Level Approach," Proc. of ASME 2001 Design Engineering Technical Conferences, DAC-21030.
9. Gosselin, C., and Hamel, J.-F., 1994, "The Agile Eye: A High-Performance Three-Degree-of-Freedom Camera-Orienting Device," Proc. IEEE lnt. Conf. on Robotics and Automation, pp. 781-786.
10. Ghuneim, T., Angeles, J., and Bai, S., 2004, "The Design of a Novel Pitch-Roll Wrist With Spherical Cam-Roller Pairs," in On Advances in Robot Kinematics J. Lenarcic and C. Galletti, eds., Kluwer Academic Publishers, Dordrecht, pp. 381-388.
11. Gonzlez-Palacios, M., and Angeles, J., 1999, "The Design of a Novel Mechanical Transmission for Speed Reduction," ASME J. Mech. Des., 121(4), pp. 538-543.
12. Gonzlez-Palacios, M., and Angeles, J., 2003, "The Design of a Novel Pure-Rolling Transmission to Rotational into Translational Motion,ASME J. Mech. Des., 125(1), pp. 205-207.
13. Primrose, E., Freudenstein, F., and Roth, B., 1967, "Six-Bar Motion. II. The Stepenson-1 and Stephenson-2 Mechanism," Arch. Ration. Mech. Anal., 24, pp. 42-72.
14. Suh, C. H., and Mecklenburg, A. W., 1973, "Optimal Design of Mechanisms With the use of Matrices and Least Squares," Mech. Mach. Theory, 8(4), pp. 479-495.
15. McLaman, C., 1963, "Synthesis of Six-Link Plane Mechanisms by Numerical Analysis," ASME J. Eng. Ind., 85(1), pp. 5-11.
16. Zanganeh, K. E., and Angeles, J., 1993, "A Symbolic Approach to the Input-Output Analysis of the Stephenson Six-Bar Linkage," Proc. 1993 ASME Design Engineering Technical Conférences, Albuquerque, Sept. 19-22, Vol. 2, pp. 67-72.
17. Baker, J. E., 2004, "The Closure Modes of Bennett's Twelve-Bar Planar Linkage," ASME J. Mech. Des., 126(3), pp. 464-469.
18. Dhingra, A., Cheng, J., and Kohli, D., 1996, "Synthesis of Six-Link, Slider-Crank and Four-Link Mechanisms for Function, Path and Motion Generation Using Homotopy With m-Homogenization," ASME J. Mech. Des., 116(4), pp. 1122-1131.
19. Schreiber, H., Meer, K., and Schmitt, B. J., 2002, "Dimensional Synthesis of Planar Stephenson Mechanisms for Motion Generation Using Circlepoint Search and Homotopy Methods," Mech. Mach. Theory, 37(7), pp. 717-737.
20. Sakamoto, Y., Ogawa, K., and Funabashi, H., 1994, "A Kinematic Analysis of Planar Six-Bar Mechansims With Consideration of the Interference of Moving Links," Mech. Mach. Theory, 29(3), pp. 345-356.
21. Chiang, C., 1988, Kinematics of Spherical Mechanism, Cambridge University Press, Cambridge.
22. Kohli, D., and Khonji, A., 1994, "Grashof-type of Rotatability Criteria of Spherical Five-Bar Linkages," ASME J. Mech. Des., 118(3), pp. 99-104.
23. Farhang, K., and Zargar, Y., 1999, "Design of Spherical 4R Mechanisms: Function Generation for the Entire Motion Cycle," ASME J. Mech. Des., 121(12), pp. 521-528.
24. Ge, Q. J., and McCarthy, J. M., 1991, "The Algebraic Classification of the Image Curves of Spherical Four-Bar Motion," ASME J. Mech. Des., 113(3), pp. 227-231.
25. Ge, Q. J., and Larochelle, P. M., 1999, "Algebraic Motion Approximation With NURBS Motions and its Application to Spherical Mechanism Symhesis," ASME J. Mech. Des., 121(12), pp. 529-532.
26. Larochelle, P. M., and McCarthy, J., 1994, "Design of Spatial 4C Mechanisms for Rigid-Body Guidance," Proc. 23rd Biennial Mechanisms Conference, Minneapolis, Sept. 11-14, Vol. 70, pp. 135-142.
27. Wampler, C. W., 2004, "Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops," ASME J. Mech. Des., 126(1), pp. 93-100.
28. Salmon, G., 1885, Lessons Introductory, to the Modern Higher Algebra, Chelsea Publishing Co., New York.
29. Angeles, J., and Zakhariev, E., 1998, Computational Methods in Mechanical Systems, Springer-Verlag, Heidelberg.
30. Zanganeh, K. E., and Angeles, J., 1994, "On the Optimum Design of Planar and Spherical Drag-Link Mechanisms," ASME Journal of Mechanism Syntheis and Analysis, 70(4), pp. 183-190.
31. Gosselin, C., and Angeles, J., 1989, "Optimization of Planar and Spherical Function Generators as Minimum-Defect Linkages," Mech. Mach. Theory, 24(4), pp. 293-307.