Now showing items 21-26 of 26
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 ...
Alternating error effects on decomposition method in function generation synthesis
In approximate function generation synthesis methods, error between the desired function’s output and designed mechanism’s output oscillate about zero error while crossing the zero error margin at precision points. The ...
Position Kinematics of a 3-RRS Parallel Manipulator
The 3-RRS parallel manipulator presented in this study comprises of parallel revolute joint axes in each leg. The manipulator is composed of a base and a moving platform which are in the shape of equilateral triangles. ...
Computing the safe working zone of a 3-RRS parallel manipulator
Determination of the safe working zone (SWZ) of a parallel manipulator is a one-time computational task with several permanent benefits. As this subspace of the workspace of the manipulator is free of both the loss- and ...
Design of a cable-driven four-bar mechanism for arm rehabilitation
This paper presents the design of an assistive mechanism to be used for the rehabilitation of human arm. First the motions of two types of rehabilitation exercises are described. The motions are planar motions, so a planar ...
Path generation synthesis of planar double-slider linkages via the elliptic coupler curve
The path generation synthesis of a double-slider linkage is performed for a given elliptic curve. It is shown that there are ∞2 linkages that can trace the same ellipse. The formulation for obtaining all such linkages is ...