Modelling Atwood’s Machine with Three Degrees of Freedom

An XYZ Micromanipulator with three translational degrees of freedom

with three translational degrees of freedom" SUMMARY This paper introduces a three degree of freedom XYZ Micromanipulator (XYZM) that is fabricated in the x-y plane and positions components in the x, y, and z directions using three independent linear inputs. The mechanism positions components on a platform using three legs, each composed of a slider mechanism and a parallelogram mechanism. Thre...

The calcaneocuboid joint moves with three degrees of freedom

Introduction Investigations of the calcaneocuboid joint typically find that it is among the least mobile of the intrinsic foot joints [1]. When movement is found, it is shown to be highly variable among individuals [2]. The joint is therefore relegated to the presumably rigid lateral aspect of the foot. The complementary articular surfaces of the two relevant bones are both relatively flat, wit...

Design and Analysis of a Three Degrees of Freedom Parallel Kinematic Machine

Title of Dissertation: A THREE DEGREE OF FREEDOM PARALLEL MANIPULATOR WITH ONLY TRANSLATIONAL DEGREES OF FREEDOM

Title of Dissertation: A THREE DEGREE OF FREEDOM PARALLEL MANIPULATOR WITH ONLY TRANSLATIONAL DEGREES OF FREEDOM Richard Eugene Stamper, Doctor of Philosophy, 1997 Dissertation directed by: Professor Lung-Wen Tsai Department of Mechanical Engineering and Institute for Systems Research In this dissertation, a novel parallel manipulator is investigated. The manipulator has three degrees of freedo...

Energy Shaping for Systems with Two Degrees of Underactuation and More than Three Degrees of Freedom

We study the stabilizability, via the method of energy shaping, of a given Lagrangian system with two degrees of underactuation and with n ≥ 4 degrees of freedom. By making use of the formal theory of PDEs, we derive an involutive system of PDEs which governs energy shapability, and thus deduce, for the first time, easily verifiable conditions under which energy shaping is guaranteed. We illust...