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.

Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms


This paper presents a systematic constraint-based analysis of the performance attributes of eight parallel kinematic articulated wrist mechanisms from the existing literature. These performance attributes include the number, nature (i.e., pure rotation, or translation, or a combination), and location of a mechanism’s Degrees of Freedom (DoFs) in the nominal and displaced configurations, load transmission capability along these DoFs, and load-bearing capability along the constraint directions. This systematic analysis reveals performance tradeoffs between these performance attributes for a given mechanism as well as design tradeoffs across these mechanisms. This analysis also helps inform the suitability of a given mechanism for specific applications.
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