...Anton V. Antonov; Alexey S. Fomin The paper presents an approach to perform an instantaneous kinematic analysis of parallel–serial (hybrid) manipulators using screw theory. In this study, we focus on non-kinematically redundant manipulators that include a single parallel mechanism. The proposed...

... established in detail using geometric method and screw theory. The coverage of the healthy ankle motion ability was formulated as an optimization problem to improve the robot's performance. Multi-objective optimal design was carried out to determine the dimensional parameters. The interference-free working...

... transformation matrix. The analysis shows that the mechanism has six single-DOF motion modes, including a planar rhombus 4R mode, two overconstrained spatial 6R modes, and three coaxial 1R modes. The motion characteristics of the six motion modes are identified using screw theory. The six transition...

... is analyzed by the screw theory. At the same time, the velocity mapping model of the mechanism is established by the twist screw and the actuated Jacobian matrix. Then, the acceleration mapping model of the mechanism, including the generalized kinematic pairs, is established by reduced acceleration state...

... based on screw theory, following a similar approach as in Ref. [ 22 ], to demonstrate finite mobilities at both the home and an arbitrary configuration. This analysis serves as a critical determination of whether the proposed joint qualifies as a true mechanism. In the subsequent sections, through...

..., 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...

... and change the parameters of flexure mechanisms to achieve the desired DOF requirements of types initially. Compliant mechanisms Computational kinematics Screw theory A flexure mechanism [ 1 ] is a new system relying on its intrinsic elastic deformation to output all or part of motion, force...

... indices is proposed which can be employed for precisely representing the closeness to different types of singularities defined in twist space as well as for dimensional optimization. An example is given to illustrate the effectiveness of this approach. Dexterity metrics Screw theory Spatial...

... synthesis screw theory parallel mechanism Meanwhile, systematic study has been made on parallel mechanisms in the past two decades. The research areas of parallel mechanisms and single-loop overconstrained mechanisms are closely related. For example, the type synthesis of parallel mechanisms...

... , J. K. , and Hunt , K. H. , 2004 , Robots and Screw Theory: Applications of Kinematics and Statics to Robotics , Oxford University Press , New York. [20] Kong , X. , and Gosselin , C. , 2007 , Type Synthesis of Parallel Mechanisms , Springer , New York . [21] Dai , J. S...

...-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 Application to Three-Dimension-Translation...

... approach screw theory In recent years, two or three DOF rotational parallel mechanisms and/or spherical parallel mechanisms (SPMs) are employed in a variety of applications. They are used as robot wrists, machining tool heads, shaking tables for simulators, pointing devices for mirrors and radar...

... is the number of the common constraints. For overconstrained parallel mechanisms, the common constraints and redundant constraints must be considered when their mobility is analyzed [( 23 )]. Hence, we analyze the mobility of this rolling 8U parallel mechanism using screw theory and Grübler-Kutzbach...

... 04 2012 screw theory kinematic derivatives kinematic differential equation algorithmic differentiation Lie product power-series expansion closed kinematic chain finite displacement inverse kinematics serial robot A network of rigid-body links in Euclidean 3-space is connected...

... , J. M. , Gallardo , J. , and Duffy , J. , 1999 , “ Screw Theory and Higher Order Kinematic Analysis of Open Serial and Closed Chains ,” Mech. Mach. Theory 0094-114X , 34 ( 4 ), pp. 559 – 586 . 10.1016/S0094-114X(98)00029-9 Karger , A. , 1996 , “ Singularity Analysis...

... 07 2010 chains fasteners manipulators screw theory mobility platform manipulator constraint singularity Lie product Lie bracket twist vector motion screw exponential map Baker–Campbell–Hausdorff Extending the mobility analysis beyond second-order establishes conditions...