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Journal articles on the topic '3R Manipulator'

Author: Grafiati

Published: 5 June 2025

Last updated: 16 July 2025

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1

Paganelli, Davide. "The Ninth Homotopy Class of Spatial 3R Serial Regional Manipulators." Journal of Mechanical Design 129, no. 4 (2006): 445–48. http://dx.doi.org/10.1115/1.2437805.

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Singularities form surfaces in the jointspace of a serial manipulator. Paï and Leu (Paï and Leu, 1992, IEEE Trans. Rob. Autom., 8, pp. 545–559) introduced the important notion of generic manipulator, the singularity surfaces of which are smooth and do not intersect with each other. Burdick (Burdick, 1995, J. Mech. Mach. Theor., 30, pp. 71–89) proposed a homotopy-based classification method for generic 3R manipulators. Through this classification method, it was stated in Wenger, 1998, J. Mech. Des., 120, pp. 327–332 that there exist exactly eight classes of generic 3R manipulators. A counterexa

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2

Kim, Jong Ho, Kyunghwan Choi, and In Gwun Jang. "Model-Predictive-Control-Based Time-Optimal Trajectory Planning of the Distributed Actuation Mechanism Augmented by the Maximum Performance Evaluation." Applied Sciences 11, no. 16 (2021): 7513. http://dx.doi.org/10.3390/app11167513.

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Trajectory planning for a redundant manipulator is a classic problem. However, because it is difficult to precisely evaluate its maximum performance, an optimization method has been typically used. In this study, a novel time-optimal trajectory planning method for a redundant manipulator is proposed using the model predictive control (MPC) augmented by the maximum performance evaluation (MPE). First, the optimization formulation is expressed to evaluate the maximum performance of the distributed-actuation-mechanism-based three-revolute-joint manipulator (DAM-3R), which has a high level of redu

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3

Lee, Hong-You, and Charles F. Reinholtz. "Inverse Kinematics of Serial-Chain Manipulators." Journal of Mechanical Design 118, no. 3 (1996): 396–404. http://dx.doi.org/10.1115/1.2826899.

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This paper proposes a unified method for the complete solution of the inverse kinematics problem of serial-chain manipulators. This method reduces the inverse kinematics problem for any 6 degree-of-freedom serial-chain manipulator to a single univariate polynomial of minimum degree from the fewest possible closure equations. It is shown that the univariate polynomials of 16th degree for the 6R, 5R-P and 4R-C manipulators with general geometry can be derived from 14, 10 and 6 closure equations, respectively, while the 8th and 4th degree polynomials for all the 4R-2P, 3R-P-C, 2R-2C, 3R-E and 3R-

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4

Wenger, P., D. Chablat, and M. Baili. "A DH-Parameter Based Condition for 3R Orthogonal Manipulators to Have Four Distinct Inverse Kinematic Solutions." Journal of Mechanical Design 127, no. 1 (2005): 150–55. http://dx.doi.org/10.1115/1.1828460.

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Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes to have four distinct IKS. We show that the transition between manipulators with two and four IKS is defined by the set of manipulators with a quadruple root of their inverse kinematics. The resulting condition is explicit and states that the last link length of the manipulator must be greater than a quantity that depends on three of its remaining DH parameters. This result is of interest for the d

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5

Wenger, Philippe. "Cuspidal and noncuspidal robot manipulators." Robotica 25, no. 6 (2007): 677–89. http://dx.doi.org/10.1017/s0263574707003761.

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SUMMARYThis article synthezises the most important results on the kinematics of cuspidal manipulators i.e. nonredundant manipulators that can change posture without meeting a singularity. The characteristic surfaces, the uniqueness domains and the regions of feasible paths in the workspace are defined. Then, several sufficient geometric conditions for a manipulator to be noncuspidal are enumerated and a general necessary and sufficient condition for a manipulator to be cuspidal is provided. An explicit DH-parameter-based condition for an orthogonal manipulator to be cuspidal is derived. The fu

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6

Zhang, Liang, Yifan Wu, and Qi Zhang. "End Motion Path Analysis of Notched Variable Cross-section Flexible Manipulator Based on 3R Pseudo-Rigid Body Model." Journal of Physics: Conference Series 2477, no. 1 (2023): 012068. http://dx.doi.org/10.1088/1742-6596/2477/1/012068.

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Abstract A wire-driven planar curved notched flexible manipulator with variable cross-section is designed. Based on the Bernoulli Euler beam equation, the end track and rotation angle of the notched flexible manipulator with variable cross-section after applying force is deduced theoretically. In addition, the 3R pseudo rigid body model is used to calculate the end track and rotation angle, and ABAQUS finite element analysis software is used for motion simulation. Then, MATLAB is used for post-processing to obtain the end track of the flexible manipulator. By comparing the track of the 3R pseu

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7

PANDA, S., D. MISHRA, B. B. BISWAL, and B. B. CHOUDHURY. "ROBOT WORKSPACE OPTIMIZATION USING A NOVEL MODIFIED DIFFERENTIAL EVOLUTIONARY TECHNIQUE." International Journal of Computational Methods 09, no. 03 (2012): 1250034. http://dx.doi.org/10.1142/s021987621250034x.

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Robotic manipulators with three-revolute (3R) family of positional configurations are very common in the industrial robots (IRs). The capability of a robot largely depends on the workspace (WS) of the manipulator apart from other parameters. With the constraints in mind, the optimization of the workspace is of prime importance in designing the manipulator. The problem is formulated as a constrained optimization problem with workspace volume as objective function. It is observed that the previous literature is confined to use of conventional soft computing algorithms only, while a new search al

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8

Long, G. L., J. M. McCarthy, and R. P. Paul. "Kinematic Modules for Singularity-Free Movement With Three Cartesian Freedoms." Journal of Mechanical Design 115, no. 2 (1993): 207–13. http://dx.doi.org/10.1115/1.2919179.

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The singularity conditions of three-revolute-joint serial chain manipulators are investigated by considering the motion of an arbitrary point on a terminal link. A distinction is made between singular configurations (every point on the terminal link is singular) and singular surfaces (a chosen point on the terminal link lies on a singular surface). Of particular interest is a class of 3R manipulators—each manipulator within this class forms a third-order screw system. We outline the structural requirements for this 3R class, and then determine the singularity conditions for several cases. For

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9

Liu, H., J. S. Dai, H. Y. Xu, and H. Li. "Virtual-mechanism-based analysis of cooperative manipulation." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 219, no. 3 (2005): 315–23. http://dx.doi.org/10.1243/095440604x16830.

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This paper proposes a new approach for analysing cooperative manipulation in which cooperative manipulators form a mechanism closure that allows a virtual-mechanism-based analysis to take place. The method is based on the geometry of manipulators during manipulation and converts the cooperative manipulation problem into the analysis of a hypothetical mechanism so that the mechanism theory can be used for the manipulation. This mechanism is hence generated by the fact that the end points (or geometric centres of respective grippers) of cooperative manipulators coincide with a virtual joint duri

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10

Lu, Yaodong, and Vigen Arakelian. "Torque Minimization of Dynamically Decoupled 3R Spatial Serial Manipulators via Optimal Motion Generation." WSEAS TRANSACTIONS ON APPLIED AND THEORETICAL MECHANICS 18 (September 14, 2023): 161–71. http://dx.doi.org/10.37394/232011.2023.18.15.

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This paper proposes an analytically tractable solution for minimizing input torques in decoupled three-degrees-of-freedom spatial serial manipulators. The solution relies on the generation of motion using a «bang-bang» profile. The problem is solved in two stages. Firstly, the dynamic decoupling of the manipulator is accomplished through the redistribution of the moving masses and the relocation of one of the actuators. This leads to the decoupling of the equations of motion for different degrees of mobility. It is worth mentioning that this solution represents a symbiosis of two distinct appr

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11

Qazani, Mohammad Reza Chalak, Houshyar Asadi, and Saeid Nahavandi. "A New Gantry-Tau-Based Mechanism Using Spherical Wrist and Model Predictive Control-Based Motion Cueing Algorithm." Robotica 38, no. 8 (2019): 1359–80. http://dx.doi.org/10.1017/s0263574719001516.

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SUMMARYThe 3 degree-of-freedom Gantry-Tau manipulator with the addition of the spherical wrist mechanism which is called Gantry-Tau-3R is designed as a high-G simulation-based motion platform (SBMP) with the capability of generating the large linear and angular displacement. The combination of both parallel and serial manipulator in newly designed Gantry-Tau-3R mechanism improves the ability of the mechanism to regenerate larger motion signals with higher linear acceleration and angular velocity. The high-frequency signals are reproduced using the parallel part of the mechanism, and sustainabl

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12

Hareesha, N. G., and N. Umesh K. "Synthesis of Redundant Planar Isotropic Manipulator using Link Length Ratios." International Journal of Engineering and Management Research 8, no. 1 (2018): 73–78. https://doi.org/10.5281/zenodo.3362744.

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This research involves synthesis of planar isotropic 3R manipulator using link length ratios. A novel method is proposed to obtain exact solutions for synthesis of the manipulator using the conditions of isotropy. Two earlier methods of synthesis are used to compare the proposed method and are shown to be more appropriate and precise enough to get eight isotropic configurations.

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13

Lee, Eric, and Constantinos Mavroidis. "An Elimination Procedure for Solving the Geometric Design of Spatial 3R Manipulators." Journal of Mechanical Design 128, no. 1 (2005): 142–45. http://dx.doi.org/10.1115/1.2125970.

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In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints when three precision points are specified is solved using an algebraic elimination method for the first time. Three spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator will be able to place its end-effector at these three prespecified locations. In this problem, six of the design parameters are set as free choices and their values are selected arbitrarily. For the specific case studied i

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14

Pohl, E. D., and H. Lipkin. "Complex Robotic Inverse Kinematic Solutions." Journal of Mechanical Design 115, no. 3 (1993): 509–14. http://dx.doi.org/10.1115/1.2919219.

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A new method exploiting complex numbers in the inverse kinematic solution of serial robotic manipulators is presented. If a prescribed end effector location is outside of the manipulator workspace, complex joint values result. While they cannot be implemented physically, they may be mapped to real numbers. The result approximates the prescribed location. For many industrial manipulators, mapped solutions may be explained using spherical and planar dyads. An important criterion characterizes error minimization properties, and is illustrated for a 3R regional robot.

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15

Benoit, R., N. Delanoue, S. Lagrange, and P. Wenger. "Guaranteed detection of the singularities of 3R robotic manipulators." Mechanical Sciences 7, no. 1 (2016): 31–38. http://dx.doi.org/10.5194/ms-7-31-2016.

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Abstract. The design of new manipulators requires the knowledge of their kinematic behaviour. Important kinematic properties can be characterized by the determination of certain points of interest. Important points of interest are cusps and nodes, which are special singular points responsible for the non-singular posture changing ability and for the existence of voids in the workspace, respectively. In practice, numerical errors should be properly tackled when calculating these points. This paper proposes an interval analysis based approach for the design of a numerical algorithm that finds en

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16

Lee, Eric, and Constantinos Mavroidis. "Solving the Geometric Design Problem of Spatial 3R Robot Manipulators Using Polynomial Homotopy Continuation." Journal of Mechanical Design 124, no. 4 (2002): 652–61. http://dx.doi.org/10.1115/1.1515796.

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In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints is solved using a polynomial homotopy continuation method. Three spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3-R manipulator are computed so that the manipulator will be able to place its end-effector at these three pre-specified locations. Denavit and Hartenberg parameters and 4×4 homogeneous matrices are used to formulate the problem and obtain eighteen design equations in twenty-four design unknowns. Six of the design parameter

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17

Khan, Waseem A., Venkat N. Krovi, Subir K. Saha, and Jorge Angeles. "Recursive Kinematics and Inverse Dynamics for a Planar 3R Parallel Manipulator." Journal of Dynamic Systems, Measurement, and Control 127, no. 4 (2004): 529–36. http://dx.doi.org/10.1115/1.2098890.

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We focus on the development of modular and recursive formulations for the inverse dynamics of parallel architecture manipulators in this paper. The modular formulation of mathematical models is attractive especially when existing sub-models may be assembled to create different topologies, e.g., cooperative robotic systems. Recursive algorithms are desirable from the viewpoint of simplicity and uniformity of computation. However, the prominent features of parallel architecture manipulators-the multiple closed kinematic loops, varying locations of actuation together with mixtures of active and p

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18

Jen, S. C., and D. Kohli. "Automated Formation of Closed Form Kinematic Displacement Polynomials for Open Loop Planar and Spatial Chains." Journal of Mechanical Design 117, no. 1 (1995): 83–88. http://dx.doi.org/10.1115/1.2826121.

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A new numerical approach for determining inverse kinematic polynomials of manipulators is presented in this paper. Let the inverse kinematic polynomial of a manipulator in one revolute joint variable θi be represented by gnTn + gn-1Tn-1 + gn-2Tn-2 + • + g1T + go = 0. T = tanθi/2 and go, g1...gn are polynomial type functions of hand position variables. The coefficients g are expressed in terms of undetermined coefficients and hand position variables. Then the undetermined coefficients are evaluated by using direct kinematics and the solutions of sets of linear equations, thus determining coeffi

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19

Gouasmi, Mahmoud, Belkacem Gouasmi, and Mohammed Ben-Ahmed Dahou. "Dual Quaternions Robotics: A) The 3R Planar Manipulator." Journal of Rehabilitation Robotics 6 (August 1, 2018): 8–21. http://dx.doi.org/10.12970/2308-8354.2018.06.02.

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20

Biswal, B. B., D. Mishra, and S. Panda. "Optimum design of 3R manipulator using hybrid PSOGSA algorithm." International Journal of Mechanisms and Robotic Systems 5, no. 1/2 (2021): 111. http://dx.doi.org/10.1504/ijmrs.2021.10037763.

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21

Panda, S., D. Mishra, and B. B. Biswal. "Optimum design of 3R manipulator using hybrid PSOGSA algorithm." International Journal of Mechanisms and Robotic Systems 5, no. 1/2 (2021): 111. http://dx.doi.org/10.1504/ijmrs.2021.115135.

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22

Biswal, B. B., D. Mishra, and S. Panda. "Workspace optimisation of 3R manipulator - a multi-objective approach." International Journal of Intelligent Machines and Robotics 1, no. 3 (2019): 210. http://dx.doi.org/10.1504/ijimr.2019.10023166.

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23

Panda, S., D. Mishra, and B. B. Biswal. "Workspace optimisation of 3R manipulator - a multi-objective approach." International Journal of Intelligent Machines and Robotics 1, no. 3 (2019): 210. http://dx.doi.org/10.1504/ijimr.2019.101759.

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24

Burdick, Joel W. "A classification of 3R regional manipulator singularities and geometries." Mechanism and Machine Theory 30, no. 1 (1995): 71–89. http://dx.doi.org/10.1016/0094-114x(94)00043-k.

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25

Fukazu, Yusuke, Naoyuki Hara, Toshimitu Hishinuma, Daisuke Sato, and Yoshikazu Kanamiya. "Pseudoinverse-Based Motion Control of a Redundant Manipulator on a Flexible Base with Vibration Suppression." Journal of Robotics and Mechatronics 20, no. 4 (2008): 621–27. http://dx.doi.org/10.20965/jrm.2008.p0621.

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We propose a method for motion control of a redundant manipulator on a flexible base. Manipulator selfmotion is determined from a velocity-level additional constraint obtained from base vibration dynamics. End-effector path tracking is ensured via pseudoinverse-based velocity control. In this way, algorithmic singularities associated with the additional constraint are avoided. The vibration suppression control component is derived via the Singularity-Consistent method, which aleviates destabilization during vibration suppression in the vicinity of kinematic singularities. Experimental data fro

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26

Ghosal, A., and S. Desa. "Dynamical Resolution of Redundancy for Robot Manipulators." Journal of Mechanical Design 115, no. 3 (1993): 592–98. http://dx.doi.org/10.1115/1.2919231.

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A large class of work in the robot manipulator literature deals with the kinematical resolution of redundancy based on the pseudo-inverse of the manipulator Jacobian. In this paper an alternative dynamical approach to redundancy resolution is developed which utilizes the mapping between the actuator torques and the acceleration of the end-effector, at a given dynamic state of the manipulator. The potential advantages of the approach are discussed and an example of a planar 3R manipulator following a circular end-effector trajectory is used to illustrate the proposed approach as well as to comp

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27

Tao, Ke, and Shi Liang Fan. "The Movement Analysis and Research of 3R Parallelogram Linkage Manipulator." Advanced Materials Research 588-589 (November 2012): 1636–39. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.1636.

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This paper studies three degrees of freedom used in multi-joint robot kinematics in the process of loading and unloading problems, through the homogeneous coordinate transformation method to describe the spatial relationship between two adjacent connecting rod, thus derived the equivalent homogeneous transformation matrix between "gripper coordinate system" and "reference frame", establishing a movement equation for the operation arm, then worked out all joints variable with the known position vector of the last connecting rod.

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KINOSHITA, Toru, Satoshi GUNJI, and Takahiro SUZUKI. "2P1-B08 Dynamic Stabilization of 3R Underactuated Manipulator under Gravity." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2007 (2007): _2P1—B08_1—_2P1—B08_4. http://dx.doi.org/10.1299/jsmermd.2007._2p1-b08_1.

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29

Duminică, Despina, Iulian Dutu, Mihai Avram, and Viorel Gheorghe. "Fuzzy Multiobjective Optimization Used in Tolerance Synthesis of Mechanisms." Applied Mechanics and Materials 332 (July 2013): 235–40. http://dx.doi.org/10.4028/www.scientific.net/amm.332.235.

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Fuzzy objective multioptimization describes performance criteria and constraints in terms of fuzzy membership functions. The membership function of the decision is obtained as conjunction of performance criteria and constraints. A method of allocating tolerance intervals using fuzzy multiobjective optimization is presented for the case of a 3R manipulator. The proposed method is validated through Monte Carlo simulation.

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30

Karkalos, Nikolaos E., Angelos P. Markopoulos, and Michael F. Dossis. "Optimal Model Parameters of Inverse Kinematics Solution of a 3R Robotic Manipulator Using ANN Models." International Journal of Manufacturing, Materials, and Mechanical Engineering 7, no. 3 (2017): 20–40. http://dx.doi.org/10.4018/ijmmme.2017070102.

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Solution of inverse kinematics equations of robotic manipulators constitutes usually a demanding problem, which is also required to be resolved in a time-efficient way to be appropriate for actual industrial applications. During the last few decades, soft computing models such as Artificial Neural Networks (ANN) models were employed for the inverse kinematics problem and are considered nowadays as a viable alternative method to other analytical and numerical methods. In the current paper, the solution of inverse kinematics equations of a planar 3R robotic manipulator using ANN models is presen

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31

Wenger, Phillippe, and Jouad El Omri. "Comments on “A classification of 3R regional manipulator geometries and singularities”." Mechanism and Machine Theory 32, no. 4 (1997): 529–32. http://dx.doi.org/10.1016/s0094-114x(96)00061-4.

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32

Oblak, D., and D. Kohli. "Boundary Surfaces, Limit Surfaces, Crossable and Noncrossable Surfaces in Workspace of Mechanical Manipulators." Journal of Mechanisms, Transmissions, and Automation in Design 110, no. 4 (1988): 389–96. http://dx.doi.org/10.1115/1.3258935.

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The workspace of a regional structure of a manipulator is bounded by a Jacobian surface (where the Jacobian is singular) or a D-surface (where one or more of the joints achieve a limit position). The Jacobian surfaces and D-surfaces may also appear inside the workspace. In such a case, these surfaces are noncrossable for certain configurations and crossable for certain other configurations. In addition, there may be singular points which are crossable by all configurations of the manipulator. In this paper, a workspace analysis method has been developed for identification of these surfaces. Ex

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33

Lenar�i�, Jadran. "Some Considerations on the Self-Motion Curves of a Planar 3R Manipulator." Journal of Computing and Information Technology 10, no. 2 (2002): 125. http://dx.doi.org/10.2498/cit.2002.02.06.

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34

Qian, Jianyong, Qi Su, Fu Zhang, Yun Ma, Zifan Fang, and Bing Xu. "Static Deformation-Compensation Method Based on Inclination-Sensor Feedback for Large-Scale Manipulators with Hydraulic Actuation." Processes 8, no. 1 (2020): 81. http://dx.doi.org/10.3390/pr8010081.

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Modern large-scale manipulators with hydraulic actuation like mobile concrete pump manipulators are increasingly used in industrial, construction, and other fields. Due to the large span of these manipulators, the static deformation accumulation to the endpoint has seriously affected the precise control of the endpoint. In this paper, we propose a static deformation-compensation method based on inclination sensor feedback for large-scale manipulators to reduce the deviation of the endpoint. Compared with the finite element method, this method does not need to consider many boundary conditions

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35

Sahu, Pradip Kumar, and Bibhuti Bhusan Biswal. "Geodesic Approach for an Efficient Trajectory Planning of Mobile Robot Manipulators." International Journal of Mathematical, Engineering and Management Sciences 4, no. 5 (2019): 1196–207. http://dx.doi.org/10.33889/ijmems.2019.4.5-094.

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In this paper, the geodesic approach has been employed for an effective, optimal, accurate and smooth trajectory planning of a mobile robot manipulator mechanism. Generally, geodesic can be described as the shortest curvature between two loci on a Riemannian manifold. In order to attain the planned end-effector motion, Riemannian metrics has been consigned to the forward kinematics of mobile robot wheel as well as the mobile robot manipulator workspace. The rotational angles of wheel and joint kinematic parameters are chosen as local coordinates of spaces to represent Cartesian trajectories fo

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Pan, Lanqing, James W. Zhang, Dan Zhang, and Hongyan Tang. "Modeling and Analysis of a Novel 3R Parallel Compliant Mechanism." Machines 11, no. 3 (2023): 375. http://dx.doi.org/10.3390/machines11030375.

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This paper presents and investigates a new three-rotation (3R) parallel compliant mechanism that uses compliant rods to achieve three rotations. The mechanism is designed for use in pointing devices or as a spatial parallel manipulator. The mobility analysis is based on the Cosserat rod model and Lagrangian dynamics equations. The dynamics equations are then effectively solved using the back-propagation neural network and chaos-enhanced accelerated particle swarm optimization. After studying the mobility of the moving platform, a simplified model is proposed and used for kinematic analysis. Th

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Salunkhe, Durgesh Haribhau, Christoforos Spartalis, Jose Capco, Damien Chablat, and Philippe Wenger. "Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal." Mechanism and Machine Theory 171 (May 2022): 104729. http://dx.doi.org/10.1016/j.mechmachtheory.2022.104729.

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38

Panda, S., D. Mishra, and B. B. Biswal. "An approach for design optimization of 3R manipulator using Adaptive Cuckoo Search algorithm." Mechanics Based Design of Structures and Machines 48, no. 6 (2019): 773–98. http://dx.doi.org/10.1080/15397734.2019.1675166.

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39

Mucchi, Emiliano, Stefano Fiorati, Raffaele Di Gregorio, and Giorgio Dalpiaz. "Multibody modeling and vibration testing of 3R planar manipulators: effects of flexible installation frames." Robotica 31, no. 8 (2013): 1209–20. http://dx.doi.org/10.1017/s026357471300043x.

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SUMMARYThis work presents the experimental validation and updating of a flexible multibody model ideated for taking into account installation conditions of industrial serial planar manipulators without resorting to cumbersome modeling. The flexibility of the frame, the manipulator is fixed, is modeled over the flexibility of joints, which is introduced as lumped stiffness. In particular, the flexible frame is included in the model by using the Component Mode Synthesis methodology, in which only the natural modes of vibration and the static constrain modes are accounted. The flexible multibody

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40

Zahid, Azlan, Md Sultan Mahmud, Long He, Daeun Choi, Paul Heinemann, and James Schupp. "Development of an integrated 3R end-effector with a cartesian manipulator for pruning apple trees." Computers and Electronics in Agriculture 179 (December 2020): 105837. http://dx.doi.org/10.1016/j.compag.2020.105837.

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41

SHEN, Huiping. "New 3T1R Parallel Manipulator 2-(RPa3R)3R with Zero Coupling Degree and Partial Decoupling: Design and Kinematics." Journal of Mechanical Engineering 55, no. 5 (2019): 53. http://dx.doi.org/10.3901/jme.2019.05.053.

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42

Müller, Andreas. "Forward dynamics of variable topology mechanisms—The case of constraint activation." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 230, no. 4 (2016): 442–54. http://dx.doi.org/10.1177/1464419316631862.

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Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead to topology changes. The latter is becoming an important issue in human–machine interaction. Anticipating the dynamic behavior of variable topology mechanisms requires solving a nonsmooth dynamic problem. The core challenge is a physically meaningful transition condition at the topology switching events. Such a condition is presented in this article. Two versions are reported, one using projected

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43

De Fátima Pereira Saramago, Sezimária, José Laércio Doricio, and Milena Almeida Leite Brandão. "Optimum design of 3R robot manipulador by using Improved Differential Evolution implemented in parallel computation." BRAZILIAN ELECTRONIC JOURNAL OF MATHEMATICS 1, no. 2 (2020): 83–103. http://dx.doi.org/10.14393/bejom-v1-n2-2020-54671.

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   In recent decades the great interest in Evolutionary Algorithms (EAs) has boosted their development leading to a significant improvement in their efficiency and applicability. Thus, EAs have been applied to solve optimization problems in different areas of knowledge. A promising optimization method known as Differential Evolution (DE), which belongs to the class of AEs, has attracted the attention of researchers. The DE algorithm is simple, robust and efficient. However, by testing with classical optimization problems noticed that sometimes the results obtained with DE are

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CAI, Hongyi, and Takashi KAWAMURA. "315 A Study on Development and Control of 3 Rotation type Robot Manipulator." Proceedings of Conference of Hokuriku-Shinetsu Branch 2005.42 (2005): 99–100. http://dx.doi.org/10.1299/jsmehs.2005.42.99.

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Wenger, P. "Classification of 3R Positioning Manipulators." Journal of Mechanical Design 120, no. 2 (1998): 327–32. http://dx.doi.org/10.1115/1.2826976.

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In this paper, the complete categorization of all generic 3-revolute jointed (3R) positioning manipulators is established using a homotopy based classification scheme. It is shown that there exists exactly eight subsets of homotopic generic manipulators which have similar global kinematic properties. The classification of generic manipulators serves as an efficient tool for the categorization of cuspidal and non cuspidal manipulators, i.e., manipulators which can or cannot change posture without meeting a singularity, respectively. As a result of this classification, it appears that, in contra

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Ottaviano, Erika, Marco Ceccarelli, and Manfred Husty. "Workspace Topologies of Industrial 3R Manipulators." International Journal of Advanced Robotic Systems 4, no. 3 (2007): 38. http://dx.doi.org/10.5772/5679.

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A mathematical analysis is used to characterize workspace topologies of industrial 3R manipulators. A level-set reconstruction of the workspace is formulated to identify characteristic points with fairly simple algebraic expressions. Thus, industrial 3R manipulators are classified as functions of workspace kinematic properties. Examples are illustrated to show practical usefulness of the proposed workspace characterization.

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Bergamaschi, Paulo Roberto, Antônio Carlos Nogueira, and Sezimária de Fátima Pereira Saramago. "Design and optimization of 3R manipulators using the workspace features." Applied Mathematics and Computation 172, no. 1 (2006): 439–63. http://dx.doi.org/10.1016/j.amc.2005.02.024.

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Rodriguez, EB, GD Scally та RV Stick. "The Synthesis of Optically Pure Epoxy-alkyl β-D-Glucosides and β-Cellobiosides as Active-Site Directed Inhibitors of Some β-Glucan Hydrolases". Australian Journal of Chemistry 43, № 8 (1990): 1391. http://dx.doi.org/10.1071/ch9901391.

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(2R)- and (2S)-2,3-Epoxypropyl, (3R)- and (3S)-3,4-epoxybutyl and (4S)- 4,s-epoxypentyl B- Dglucopyranoside , together with the (3R)- and (3s)-3,4-epoxybutyl β- cellobiosides , have been prepared by condensation of a glycosyl bromide with the appropriate enantiomer of a chiral alcohol containing a diol protected as an isopropylidene acetal, and subsequent manipulation of the unmasked diol into the epoxide function. As well, in an improvement to the whole process, both diastereoisomers of the various epoxypropyl and epoxybutyl glycosides were available from just the one enantiomer of the alcoho

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Du, Luojun, Jian Tang, Jing Liang, et al. "Giant Valley Coherence at Room Temperature in 3R WS2 with Broken Inversion Symmetry." Research 2019 (October 13, 2019): 1–8. http://dx.doi.org/10.34133/2019/6494565.

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Breaking the space-time symmetries in materials can markedly influence their electronic and optical properties. In 3R-stacked transition metal dichalcogenides, the explicitly broken inversion symmetry enables valley-contrasting Berry curvature and quantization of electronic angular momentum, providing an unprecedented platform for valleytronics. Here, we study the valley coherence of 3R WS2 large single-crystal with thicknesses ranging from monolayer to octalayer at room temperature. Our measurements demonstrate that both A and B excitons possess robust and thickness-independent valley coheren

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Nitescu, Petru Niculae. "On the kinematic guidance of 3R-S open-loop robot manipulators." Mechanism and Machine Theory 20, no. 1 (1985): 7–15. http://dx.doi.org/10.1016/0094-114x(85)90053-9.

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