..., this paper analyzes the kinematics of the CSR based on the screw theory and extends it to any multi-branch configuration. Meanwhile, for the problem that it is difficult to obtain the inverse kinematic analytical solution of the multi-branch robot climbing mode with planar continuous three-parallel joints...

... the switch configuration, in which one configuration has one rotational degree-of-freedom (DOF) and two translational DOFs, and the other configuration has two rotational DOFs and one translational DOF. First, the DOFs of the RPM in each configuration are analyzed using screw theory. Then, position modeling...

.... Drawing heavily on screw theory combined with structural dynamics, the kinetic and elastic potential energies of the parallel mechanism and of the wrist are formulated using the dual properties of twist/wrench systems and a static condensation technique. This results in a 9-DOF dynamic model that enables...

... at most three instantaneous DOF in a transition configuration. This work enriches the types of PMs with multiple operation modes and overconstrained mechanisms. Constraint synthesis Overconstrained mechanisms Screw theory Spatial mechanisms Type synthesis Along with the advances...

... a better design of flexure mechanisms, we attempt to put compliance analysis and type synthesis of flexure mechanisms into consideration together. In this paper, we present a compliance-based parameterization approach for type synthesis of general flexure mechanisms within the framework of screw theory...

... and Screw Theory: Applications of Kinematics and Statics to Robotics , Oxford University Press , Oxford, UK . [21] Huang , T. , Yang , S. , Wang , M. , Sun , T. , and Chetwynd , D. G. , 2015 , “ An Approach to Determining the Unknown Twist/Wrench Subspaces of Lower Mobility Serial...

... subchain, the construction of 6RMCTs based on 6R overconstrained mechanisms without a planar 3R subchain are not apparent. Recent advances in the type synthesis of translational parallel mechanisms based on screw theory (see Ref. [ 16 ], for example) provide a solid starting point to solve the above...

... using CAD figures. This work may help readers better understand the geometric characteristics of singular configurations of a number of three-legged parallel manipulators. parallel mechanism screw theory singularity reciprocal screws Singularity analysis [ 1–4 ] is an important issue...

.... , and Gosselin , C. M. , 2004 , “ Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Screw Theory ,” ASME J. Mech. Des. , 126 ( 1 ), pp. 83 – 92 . 10.1115/1.1637662 [7] Jin , Q. , and Yang , T.-L. , 2004 , “ Theory for Topology Synthesis of Parallel Manipulators and Its...

... , J. F. , and Zeng , D. X. , 2009 , “ A General Methodology for Mobility Analysis of Mechanisms Based on Constraint Screw Theory ,” Sci. China Ser. E: Technol. Sci. , 52 ( 5 ), pp. 1337 – 1347 . 10.1007/s11431-008-0219-1 12 Rico , J. M. , and Ravani , B. , 2003...

... 2012 22 05 2012 8U parallel mechanism reconfiguration screw theory rolling motion Some works investigating multilink closed chain mobile robots have also been done to make use of this kind of rolling gait. A loop robot composed of several modular links rolls in the vertical plane...

... the Screw Theory—Part 1 ,” Proc. Inst. Mech. Eng., Part D (J. Automob. Eng.) , 222 ( 1 ), pp. 65 – 77 . 10.1243/09544070JAUTO509 5 Simionescu , P. A. , Talpasanu , I. , and Di Gregorio , R. , 2010 , “ Instant-Center Based Force Transmissivity and Singularity Analysis of Planar...

... ) (see Eq. 18 appearing in Sec. 3 ). screw theory kinematic time derivative kinematic differential equation curvature theory Euler–Savary relation four-bar linkage Taylor series tilt train bars couplings differential equations fasteners 27 02 2010 01 09 2010 23...

... as robot wrists. Gogu , G. , 2005 , “ Mobility of Mechanisms: A Critical Review ,” Mech. Mach. Theory 0094-114X , 40 ( 9 ), pp. 1068 – 1097 . 10.1016/j.mechmachtheory.2004.12.014 Adams , J. D. , and Whitney , D. E. , 2001 , “ Application of Screw Theory to Constraint...