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Journal Articles

On the Stability of Rigid Multibody Systems With Applications to Robotic Grasping and Locomotion

Péter L. Várkonyi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041012.
Paper No: JMR-14-1074
https://doi.org/10.1115/1.4029402
Published Online: November 1, 2015
View Article titled, On the Stability of Rigid Multibody Systems With Applications to Robotic Grasping and Locomotion
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Topics: Deformation, Equilibrium (Physics), Grasping, Multibody systems, Potential energy, Stability, Static stability, Robots, Scalars, Stress
Journal Articles

Analytic and Geometric Technique for the Singularity Analysis of Multi-Degree-of-Freedom Spherical Mechanisms

Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2015, 7(3): 031008.
Paper No: JMR-13-1175
https://doi.org/10.1115/1.4028625
Published Online: August 1, 2015
View Article titled, Analytic and Geometric Technique for the Singularity Analysis of Multi-Degree-of-Freedom Spherical Mechanisms
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Topics: Linkages, Scalars, Kinematics
Journal Articles

A Vector Expression of the Constant-Orientation Singularity Locus of the Gough–Stewart Platform

Karine Doyon, Clément Gosselin, Philippe Cardou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2013, 5(3): 034502.
Paper No: JMR-12-1168
https://doi.org/10.1115/1.4024295
Published Online: June 24, 2013
View Article titled, A Vector Expression of the Constant-Orientation Singularity Locus of the Gough–Stewart Platform
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Topics: Jacobian matrices, Scalars, Architecture, Kinematics, Modeling
Journal Articles

Invariant Description of Rigid Body Motion Trajectories

Joris De Schutter
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2010, 2(1): 011004.
https://doi.org/10.1115/1.4000524
Published Online: November 19, 2009
View Article titled, Invariant Description of Rigid Body Motion Trajectories
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Topics: Rotation, Screws, Trajectories (Physics), Scalars, Algorithms, Scalar functions