Now showing items 11-14 of 14
A geometrical approach for the singularity analysis of a 3-RRS parallel manipulator
Identifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to ...
Trajectory planning of redundant planar mechanisms for reducing task completion duration
In the industry there is always a demand to shorten the task completion durations in order to maximize the efficiency of the operation. This work aims to provide a solution to minimize the task completion duration for ...
Reconfigurable deployable umbrella canopies
(Institute of Electrical and Electronics Engineers, 2018)
The kinematic design of reconfigurable deployable canopy mechanisms with radially distributed limbs are presented in this study. The mechanisms allow a compact form and are reconfigurable with several alternative deployed ...
Structural synthesis of 2R1T type mechanisms for minimally invasive surgery applications
Assistive and operative manipulators allow easier and more precise operations for minimally invasive surgery. Such manipulators often have a pivot point at the incision port on the pa-tient’s body, so the manipulator should ...