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V. Parenti Castelli
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Proceedings Papers

Kinetostatic Behaviour of the Prismatic Pair With Clearance

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V. Parenti-Castelli, S. Venanzi
Proc. ASME. IMECE2001, Dynamic Systems and Control, 811-818, November 11–16, 2001
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2001/DSC-24601
https://doi.org/10.1115/IMECE2001/DSC-24601
View Paper titled, Kinetostatic Behaviour of the Prismatic Pair With Clearance
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Topics: Clearances (Engineering), Errors, Geometry, Kinematics, Dislocations, Dynamic analysis, Stress
Proceedings Papers

Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators

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C. Innocenti, V. Parenti-Castelli
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 553-560, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0258
https://doi.org/10.1115/DETC1992-0258
View Paper titled, Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators
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Topics: Manipulators, Architecture, Geometry, Kinematics
Proceedings Papers

Forward Kinematics of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm

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C. Innocenti, V. Parenti-Castelli
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 545-552, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0257
https://doi.org/10.1115/DETC1992-0257
View Paper titled, Forward Kinematics of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm
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Topics: Algorithms, Kinematics, Parallel mechanisms, Geometry, Numerical analysis
Proceedings Papers

Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors

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V. Parenti-Castelli, R. Di-Gregorio
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A055, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1010
https://doi.org/10.1115/96-DETC/MECH-1010
View Paper titled, Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors
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Topics: Computation, Geometry, Sensors, Algorithms, Servomechanisms
Proceedings Papers

A New Algorithm Based on Two Extra-Sensors for Real-Time Computation of the Actual Configuration of the Generalized Stewart-Gough Manipulator

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V. Parenti-Castelli, R. Di Gregorio
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A029, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5965
https://doi.org/10.1115/DETC98/MECH-5965
View Paper titled, A New Algorithm Based on Two Extra-Sensors for Real-Time Computation of the Actual Configuration of the Generalized Stewart-Gough Manipulator
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Topics: Algorithms, Computation, Manipulators, Sensors, Geometry, Servomechanisms
Proceedings Papers

A 5-5 One-Degree-of-Freedom Fully Parallel Mechanism for the Modeling of Passive Motion at the Human Ankle Joint

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R. Franci, V. Parenti-Castelli
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 637-644, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34841
https://doi.org/10.1115/DETC2007-34841
View Paper titled, A 5-5 One-Degree-of-Freedom Fully Parallel Mechanism for the Modeling of Passive Motion at the Human Ankle Joint
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Topics: Bone, Degrees of freedom, Design, Fibers, Geometry, Modeling, Parallel mechanisms, Prostheses, Shapes, Simulation
Journal Articles

A Fast and Robust Hybrid Method for the Solution of the 6-3 Stewart–Gough Platform Direct Position Analysis

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R. Vertechy, V. Parenti-Castelli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2009, 1(1): 011014.
https://doi.org/10.1115/1.2966389
Published Online: September 2, 2008
View Articletitled, A Fast and Robust Hybrid Method for the Solution of the 6-3 Stewart–Gough Platform Direct Position Analysis
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Topics: Errors, Sensors, Simulation results, Kinematics
Proceedings Papers

Real-Time Direct Position Analysis of Parallel Spherical Wrists by Using Extra Sensor Data

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R. Vertechy, V. Parenti-Castelli
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 875-883, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57340
https://doi.org/10.1115/DETC2004-57340
View Paper titled, Real-Time Direct Position Analysis of Parallel Spherical Wrists by Using Extra Sensor Data
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Topics: Sensors
Proceedings Papers

Equivalent Spatial Parallel Mechanisms for the Modelling of the Ankle Passive Motion

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R. Di Gregorio, V. Parenti-Castelli, J. J. O’Connor, A. Leardini
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 679-688, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57251
https://doi.org/10.1115/DETC2004-57251
View Paper titled, Equivalent Spatial Parallel Mechanisms for the Modelling of the Ankle Passive Motion
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Topics: Kinematics, Modeling, Parallel mechanisms
Proceedings Papers

Systematic Sensitivity Analysis of Spatial One-DOF Models of Diarthrodial Joints

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R. Di Gregorio, V. Parenti-Castelli
Proc. ASME. IDETC-CIE2005, Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B, 449-457, September 24–28, 2005
Publisher: American Society of Mechanical Engineers
Paper No: DETC2005-84939
https://doi.org/10.1115/DETC2005-84939
View Paper titled, Systematic Sensitivity Analysis of Spatial One-DOF Models of Diarthrodial Joints
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Topics: Bone, Degrees of freedom, Geometry, Sensitivity analysis
Journal Articles

Real-Time Direct Position Analysis of Parallel Spherical Wrists by Using Extra Sensors

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R. Vertechy, V. Parenti-Castelli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 288–294.
https://doi.org/10.1115/1.2114888
Published Online: April 5, 2005
View Articletitled, Real-Time Direct Position Analysis of Parallel Spherical Wrists by Using Extra Sensors
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Topics: Algorithms, Errors, Manipulators, Sensors, End effectors
Journal Articles

Determination of the Actual Configuration of the General Stewart Platform Using Only One Additional Sensor

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V. Parenti-Castelli, R. Di Gregorio
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1999, 121(1): 21–25.
https://doi.org/10.1115/1.2829423
Published Online: March 1, 1999
View Articletitled, Determination of the Actual Configuration of the General Stewart Platform Using Only One Additional Sensor
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Topics: Sensors, Displacement, Algorithms, Computation, Geometry, Hardware, Manipulators
Journal Articles

Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors

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V. Parenti-Castelli, R. Di Gregorio
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1998, 120(4): 549–554.
https://doi.org/10.1115/1.2829313
Published Online: December 1, 1998
View Articletitled, Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors
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Topics: Computation, Geometry, Sensors, Algorithms, Servomechanisms
Journal Articles

Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators

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C. Innocenti, V. Parenti-Castelli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1998, 120(1): 73–79.
https://doi.org/10.1115/1.2826679
Published Online: March 1, 1998
View Articletitled, Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators
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Topics: Manipulators, Architecture, Geometry, Kinematics
Journal Articles

Forward Kinematics of the General 6–6 Fully Parallel Mechanism: An Exhaustive Numerical Approach Via a Mono-Dimensional-Search Algorithm

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C. Innocenti, V. Parenti-Castelli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1993, 115(4): 932–937.
https://doi.org/10.1115/1.2919289
Published Online: December 1, 1993
View Articletitled, Forward Kinematics of the General 6–6 Fully Parallel Mechanism: An Exhaustive Numerical Approach Via a Mono-Dimensional-Search Algorithm
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Topics: Algorithms, Kinematics, Parallel mechanisms, Geometry, Numerical analysis
Journal Articles

Closed-Form Direct Position Analysis of a 5–5 Parallel Mechanism

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C. Innocenti, V. Parenti-Castelli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 1993, 115(3): 515–521.
https://doi.org/10.1115/1.2919220
Published Online: September 1, 1993
View Articletitled, Closed-Form Direct Position Analysis of a 5–5 Parallel Mechanism
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Topics: Parallel mechanisms, Displacement, Actuators, Polynomials
Journal Articles

Forward Displacement Analysis of Parallel Mechanisms: Closed Form Solution of PRR-3S and PPR-3S Structures

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V. Parenti-Castelli, C. Innocenti
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1992, 114(1): 68–73.
https://doi.org/10.1115/1.2916927
Published Online: March 1, 1992
View Articletitled, Forward Displacement Analysis of Parallel Mechanisms: Closed Form Solution of PRR-3S and PPR-3S Structures
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Topics: Displacement, Parallel mechanisms, Actuators, Food and Drug Administration, Frequency-domain analysis, Scanning probe microscopy, Algebra
Journal Articles

Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of Freedom

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F. L. Litvin, T. Costopoulos, V. Parenti Castelli, M. Shaheen, Y. Yukishige
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 179–188.
https://doi.org/10.1115/1.3258707
Published Online: June 1, 1985
View Articletitled, Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of Freedom
Open the PDF for Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of Freedom in another window
Topics: Degrees of freedom, Manipulators
Journal Articles

Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 1: Basic Concepts

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F. L. Litvin, V. Parenti Castelli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 170–178.
https://doi.org/10.1115/1.3258706
Published Online: June 1, 1985
View Articletitled, Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 1: Basic Concepts
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Topics: Manipulators, Trajectories (Physics), Degrees of freedom, Grippers, Jacobian matrices, Manufacturing