... direct insights into the mechanism’s parameters, encompassing both type and dimensions, thereby obviating the need for further interpretative steps common to the use of quaternions and kinematic mapping. In essence, the paper presents two main contributions: the development of a unified design equation...

... Abstract Compliant mechanisms offer a number of benefits over sliding joint based mechanisms; however, their design is more complicated. As a result multiple design methods have been developed to assist with the design of compliant mechanisms. The kinematic FACT method assists in the manual...

... Abstract This paper deals with the kinematic and curvature analysis of the McPherson eight-bar suspension system that is developed by referring to a suitable planar car model, where both front wheels are supposed as rotating about their fixed revolute joints. In particular, the position...

... of coupling, and provide its topological analytical formula to represent the topological information of the PM. Next, we solve the direct and inverse kinematic models based on the kinematic modelling principle using the topological features. The models are purely analytic and are broken down into a series...

... with respect to the vehicle chassis, according to the kinematic characteristics of the double wishbone independent suspension mechanism. Moreover, a suitable mechanism with 18 members and 1 d.o.f. is proposed to generate mechanically or by using any CAD-software, both centrodes, according to the direct...

... shape fits all’ archetype and therefore user acceptance varies. Little or no consideration is given to kinematics, size, weight or aesthetics. Novel devices reported in the literature rely on mathematical optimization of kinematic parameters to achieve human-like finger trajectories and forces. However...

... Abstract A large class of parallel kinematic manipulators (PKM) possess complex limbs, i.e. limbs that comprise kinematic loops. This paper addresses the modeling of PKM with complex limbs with a single closed loops. The best known representative is the Delta robot. A systematic approach...

..., and the reduced visibility of the incision. The paper presents the modeling and simulation of a new parallel robot concept with 6 Degrees of Freedom (DOF), called PARA-SILSROB used for the single incision laparoscopic surgery. The paper focuses on the inverse kinematics, the preliminary design, and the robot...

... Abstract While many classical origami tessellations possess important kinematic properties, including flat-foldability and rigid-foldability, these patterns only possess one DOF. Stacking sheets of these origami tessellations is a fabrication technique to construct foldable meta-materials...

...-time point-to-point kinematic narios where dual-arm constrained planning is considered [5]. task-space planner based on screw interpolation that implicitly Nonetheless, full autonomy in human-centered, unstructured en- follows the underlying geometric constraints from a user demon- vironments...

... of the problems involved in mechanism simulation, and which follows the paradigm of object-oriented programming. The hypermedia material developed and furnished to students allows them to explore, to carry out individual experiments, to work out projects, and to draw up reports concerning kinematic analysis...

..., and then determines which curves belong to the same region, and which regions belong to the same AC. Mechanisms with pin joints and sliding joints are considered. kinematics planar mechanisms circuits assembly configurations single-degree-of-freedom multi-degree-of-freedom automatic method Proceedings...

... Abstract Robot kinematics generally includes forward and inverse kinematics at the position, velocity, and acceleration level. These constructs are essential for the cartesian control of serial manipulators. This paper presents the development of a C++ class library that supports the forward...

... of inputs and ultimately generates the relationships of each variable to the input(s). Examples are given to illustrate the procedure. kinematics cables pulleys tendon-driven manipulators cable-suspended robots cable-suspended haptic interfaces Proceedings of DETC'OO ASME 2000 Design...

... Abstract This paper discusses kinematics of a 3-RPS parallel pyramid manipulator using the principal screws. Firstly, the principal screws are identified by quadric degeneration. The planar conies representing the relations between the pitches and the three linear inputs are described...

...), and planar (E). The RSSR, CSS, CCS, RRSC, RSRC, and RRSRR mechanisms are covered, along with all variations in which an R joint is replaced with a P or H joint, or an S joint is replaced with an E joint. A numerical method is given to find the ACs, and is illustrated with several examples. kinematics...

... manipulators geometric design kinematics Proceedings of DETC'OO: 26th Biennial Mechanisms and Robotics Conference Sept. 10-13, 2000, Baltimore, Maryland DETC2000/MECH-14068 ANALYTIC GEOMETRIC DESIGN OF SPATIAL R-R ROBOT MANIPULATORS Constantinos Mavroidis1, Munshi Alam2 and Eric Lee3 Robotics...

... is replaced by a prismatic (P) joint. A numerical method is given to find the ACs, and is illustrated with several examples. kinematics spatial mechanisms circuits assembly configurations Proceedings of DETC'OO ASME 2000 Design Engineering Technical Conferences and Computers and Information...

... Abstract This paper examines the problem of identifying the assembly configurations (ACs), also called circuits, of planar multi-loop mechanisms with kinematic limitations, such as joint limits, link interference, collision with stationary obstacles, and workspace limitations. First, a method...

... Abstract The gait transition models of a quadruped are studied based on gait kinematics and CMAC neural networks are applied to learn and generalize these gait transition models. Three gait transition cases are studied: from wave gait to continuous follow-the-leader gait, from walk to trot...