The paper presents a methodology to enhance the stiffness analysis of serial and parallel
manipulators with passive joints. It directly takes into account the influence of external and …

Flexure joints are frequently used in precision-motion stages and microrobotic mechanisms
due to their monolithic construction. The joint compliance, however, can affect the static and …

In this paper, we investigate a methodology for the conceptual synthesis of compliant
mechanisms based on a building block approach. The building block approach is intuitive …

In this paper, a novel concept of two-degree-of-freedom (2-DOF) compliant forceps is
suggested for the measure of pulling and grasp forces at the tip of surgical instrument for …

This paper investigates the soft-finger contact by presenting the contact with a set of line
springs based on screw theory, reveals the rotational effects, and identifies the stiffness …

The thesis focuses on the enhancement of stiffness modeling of serial and parallel
manipulators with passive joints under an essential loading. The developed technique takes …

旋量理论以其简洁的形式, 数学的概括性在许多科学领域尤其是机构学领域得到深入而广泛的
应用, 但其历史发展仍不为学者们所充分了解. 从最初的几何体研究导致新机构的发明 …

This paper deals with a class of over-constrained parallel manipulators that can be obtained
from architecturally singular parallel mechanisms with legs of type US (U and S stand for …

It is possible to realize the desired compliance characteristics of a robot in a form of a
passive compliance device, which demands the synthesis technique of a stiffness matrix by …

Screw theory has become a well developed tool for analysis and synthesis in mechanisms
and robotics, though its development and intrinsic relationship with the mechanism …