732 research outputs found
Instantaneous Kinematics and Singularities of Two Types of Under-Actuated Parallel Wrists
No full textS-(nS)PU-SPU and S-(nS)PU-2SPU are two out of three types of under-actuated wrists that are generated from the “ordinary” wrists of type S-3SPU (fully-parallel wrists), by replacing a spherical pair (S) with a nonholonomic spherical pair (nS) according to the rules stated in [1]. Position analysis, controllability, and path planning of these two wrist types have been addressed and solved in two previous papers [2, 3] of this author. Their kinetostatics and singularity analysis have not been addressed, yet; and they are studied in this paper.
[1] Grosch, P., Di Gregorio, R., and Thomas, F., 2010, “Generation of under-actuated manipulators with nonholonomic joints from ordinary manipulators,” ASME J. of Mechanisms and Robotics, 2(1): 011005-(8 pages).
[2] Di Gregorio R., 2011, “Under-Actuated Nonholonomic Parallel Wrists,” In: Proc. of the 13th World Congress in Mechanism and Machine Science (IFToMM 2011), Guanajuato, México, 19-25 June, 2011, Paper No. A12-264
[3] Di Gregorio, R., 2011, “On the S-(nS)PU-SPU and S-(nS)PU-2SPU under-actuated wrists,” Procs. of the ASME 2011 International Design Engineering Technical Conference & Computers and Information in Engineering Conference, IDETC/CIE 2011, August 28-31, 2011, Washington (DC, USA), Paper No.: DETC2011-47541
35th Mechanisms and Robotics Conference (MECH)
No full textLa "35th Mechanisms and Robotics Conference (MECH)”, tenuta nell’ambito dell’ASME IDETC/CIE 2011 (28-31/8/2011, Washington, DC (USA)), seleziona tramite referees articoli che si riferiscono a teorie e applicazioni dei meccanismi ed alla meccanica dei robot. Per questa conferenza il Prof. R. Di Gregorio ha svolto il ruolo di membro dello “Award Committee”.
34th Mechanisms and Robotics Conference (MR)
No full textLa "34th Mechanisms and Robotics Conference (MR)", tenuta nell’ambito dell’ASME IDETC/CIE 2010 (15-18/8/2010, Montreal, Quebec (Canada)), seleziona tramite referees articoli che si riferiscono a teorie e applicazioni dei meccanismi ed alla meccanica dei robot. Per questa conferenza il Prof. R. Di Gregorio ha svolto il ruolo di membro dello “Award Committee”
Parallel wrists: limb architectures and mobility analysis
No full textavailable on-line: http://isa.umh.es/vr2/euron07/doc/Raffaele/Spherical%20Wrists%20I.pd
Parallel wrists: singularities and performance indices
No full textavailable on-line: http://isa.umh.es/vr2/euron07/doc/Raffaele/Spherical%20Wrists%20II.pdf
1st ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009)
No full textThe 1st ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009), held at London, 22-24/06/2009, collected papers (selected through peer-reviews) on reconfigurable machines and mechanisms. For this conference, Prof. R. Di Gregorio was chair of the “Award Committee” and member of "Organizing Committee"
36th Mechanisms and Robotics Conference (MR)
No full textThe “36th Mechanisms and Robotics Conference (MR)”, held at the ASME IDETC/CIE 2012 (12-15/08/2012, Chicago, IL (USA)), collected papers (selected through peer-reviews) on mechanism theory and applications and on robot mechanics. For this conference, Prof. R. Di Gregorio was member of the “Award Committee” and co-organizer of the Symposium MR-4 (Theoretical and Computational Kinematics (A.T. Yang) Symposium))
The 3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015)
No full textThe 3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015), held at Beijing, China, July 20-22, 2015, collected about 100 papers (selected through peer-reviews) on reconfigurable machines and mechanisms. For this conference, Prof. R. Di Gregorio was member of the "Scientific Committee"
The 2nd ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots” (ReMAR 2012)
No full textThe 2nd ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012), held at Tianjin (China), 9-11/7/2012, collected papers (selected through peer-reviews) on reconfigurable machines and mechanisms. For this conference, Prof. R. Di Gregorio was chair of the “Award Committee” and member of the "Scientific Committee"
37th Mechanisms and Robotics Conference (MR)
No full textThe “37th Mechanisms and Robotics Conference (MR)”, held at the ASME IDETC/CIE 2013 (August 4-7, Portland, Oregon (USA)), collected more than 150 papers (selected through at least three anonymous peer-reviews) on mechanism theory and applications and on robot mechanics. For this conference, Prof. R. Di Gregorio was organizer of the Symposium MR-4 (Theoretical and Computational Kinematics (A.T. Yang) Symposium)) and session chair of the technical sessions MR-2-1 "Robot Kinematics" and MR-1-5 "Singularity Analysis and Application"
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