Latest Papers

ASME Journal of Mechanisms and Robotics

  • Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
    on September 14, 2022 at 12:00 am

    AbstractThis article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss’s Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs–Appell and Kane’s equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton–Euler algorithm.

A General Method for Constructing Planar Cognate Mechanisms

Abstract

Cognate linkages are mechanisms that share the same motion, a property that can be useful in mechanical design. This article treats planar curve cognates, that is, planar mechanisms with rotational joints whose coupler points draw the same curve, as well as coupler cognates and timed curve cognates. The purpose of this article is to develop a straightforward method based solely on kinematic equations to construct cognates. The approach computes cognates that arise from permuting link rotations and is shown to reproduce all of the known results for cognates of four-bar and six-bar linkages. This approach is then used to construct a cognate of an eight-bar and a ten-bar linkage.
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