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Proceedings Papers

Backlash Control via Redundant Drives: An Experimental Verification

Lung-Wen Tsai, Sun-Lai Chang
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Flexible Mechanisms, Dynamics, and Analysis, 1-9, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0354
https://doi.org/10.1115/DETC1992-0354
View Paper titled, Backlash Control via Redundant Drives: An Experimental Verification
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Topics: Control equipment, Dynamic models, Engineering prototypes, Gears, Manipulators, Servomechanisms, Torque control
Proceedings Papers

On the Kinematics of the UPS Wrist for Real Time Control

Jason J. Lee, Sun-Lai Chang
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 305-312, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0228
https://doi.org/10.1115/DETC1992-0228
View Paper titled, On the Kinematics of the UPS Wrist for Real Time Control
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Topics: Kinematics, Real-time control, Design, Algorithms, Force control, Kinematic analysis, Machining
Proceedings Papers

Compliance and Dynamic Analysis of Tendon-Driven Robotic Mechanisms

Sun Lai Chang
Proc. ASME. DETC93, 19th Design Automation Conference: Volume 1 — Mechanical System Dynamics; Concurrent and Robust Design; Design for Assembly and Manufacture; Genetic Algorithms in Design and Structural Optimization, 229-233, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0310
https://doi.org/10.1115/DETC1993-0310
View Paper titled, Compliance and Dynamic Analysis of Tendon-Driven Robotic Mechanisms
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Topics: Dynamic analysis, Robotics, Tendons, Equations of motion, Mode shapes, Stiffness
Proceedings Papers

Analysis and Synthesis of the Dual Roller-Cam Mechanism

Sun-Lai Chang
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Machine Elements and Machine Dynamics, 247-252, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0263
https://doi.org/10.1115/DETC1994-0263
View Paper titled, Analysis and Synthesis of the Dual Roller-Cam Mechanism
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Topics: Rollers, Cycles, Equilibrium (Physics), Kinematic analysis, Service life (Equipment)
Proceedings Papers

Analysis and Synthesis of Linear Transmission Mechanisms: Coupled Mechanisms and Mechanisms Wth Prismatic Joints

Sun-Lai Chang
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Mechanism Synthesis and Analysis, 175-181, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0192
https://doi.org/10.1115/DETC1994-0192
View Paper titled, Analysis and Synthesis of Linear Transmission Mechanisms: Coupled Mechanisms and Mechanisms Wth Prismatic Joints
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Topics: Chain, Kinematics
Proceedings Papers

Design and Analysis of the Selective Compliance Device for Stacking Machine

Sun-Lai Chang
Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 979-984, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0129
https://doi.org/10.1115/DETC1995-0129
View Paper titled, Design and Analysis of the Selective Compliance Device for Stacking Machine
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Topics: Design, Machinery, Corners (Structural elements), Dimensions, Feedforward control, Force control, Linkages, Materials handling, Optimization, Rotation
Proceedings Papers

Improving Kinematic Characteristics of Geneva Mechanisms Using Variable Input Speed

Jyh-Jone Lee, Chih-Chong Cho, Sun-Lai Chang
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1081-1087, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14171
https://doi.org/10.1115/DETC2000/MECH-14171
View Paper titled, Improving Kinematic Characteristics of Geneva Mechanisms Using Variable Input Speed
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Topics: Kinematics, Wheels, Design, Cycles
Journal Articles

Backlash Control via Redundant Drives: An Experimental Verification

Lung-Wen Tsai, Sun-Lai Chang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. September 1994, 116(3): 963–967.
https://doi.org/10.1115/1.2919477
Published Online: September 1, 1994
View Article titled, Backlash Control via Redundant Drives: An Experimental Verification
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Topics: Degrees of freedom, Engineering prototypes, Gears, Manipulators
Journal Articles

On the Redundant-Drive Backlash-Free Robotic Mechanisms

Sun-Lai Chang, Lung-Wen Tsai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1993, 115(2): 247–254.
https://doi.org/10.1115/1.2919184
Published Online: June 1, 1993
View Article titled, On the Redundant-Drive Backlash-Free Robotic Mechanisms
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Topics: Robotics, Actuators, Gears, Manipulators, Construction, End effectors, Tendons