Surfaces subdivision is an important means for geometric computing of surfaces in CAD. This paper proposes a new quadric subdivision for canal surfaces in this paper, RQ-sphere decomposition, that subdivides canal surfaces as a set of truncated revolute quadric with joint spheres. Experimental results show that the RQ-sphere decomposition is better than existing methods.

This paper examines the role of grasper compliance and kinematic configuration in environments where object size and location may not be well known. A grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it passively deflected during contact with a target object. The kinematic configuration and joint stiffness values of the grasper were varied ...

A computational methodology for dynamic analysis of multibody mechanical systems with joint clearance is presented in this work. Clearances always exist in real joints in order to ensure the correct relative motion between the connected bodies being the gap associated to them a result of machining tolerance, wear, and local deformations. Clearance at different joints is the source for impact fo...

This paper presents a classification of generic 6-revolute jointed (6R) manipulators using homotopy class of their critical point manifold. A part of classification is listed in this paper because of the complexity of homotopy class of 4-torus. The results of this classification will serve future research of the classification and topological properties of maniplators joint space and workspace.

A spherical parallel manipulator (also called an orientational parallel manipulator or rotational parallel manipulator) refers to a threedegree-of-freedom (3-DoF) parallel manipulator in which the moving platform undergoes a 3-DoF spherical motion or rotates about a fixed point. In this paper, we propose a new method for the type synthesis of non-overconstrained (isostatic) spherical parallel m...

The trajectory-tracking control of a typical industrial robot with six revolute joints is studied, where the joint flexibility is taken into account. An explicit form of the control law is obtained by using the composite control technique. The stability of system is discussed. The global convergence of tracking error can be reached by tuning the controller parameters. This method has a unique a...

In attempting to minimize the distance between the hand of a manipulator and the position of a goal a numerical method that alternately adjusts the con guration of one joint at a time is proposed The adjustment for either a revolute joint or a prismatic joint can be made e ectively without derivative evaluation This method can be applied to any manipulator of any number of joints with arbitrary...

This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with 2-DOF (degree freedom) Cartesian base (XY–axes) that supports 1-DOF compliant joint arm integrates gripper and elastic linear force sensor. The proposed kinematic configuration improves the positioning accuracy end effector respect to robotic arms revolute joints, where each coordinate position depends on ...