Most existing lower-limb rehabilitation robots (LLRR) for stroke and postoperative are bulky prone to misalignments between robot human joints. These drawbacks hamper LLRR application, leading poor arthro-kinematic compatibility. To address these challenges, this paper proposes a novel with portability compliance features. The developed consists of an underactuated mechanism crus linkage, respe...

Models, simulators and control strategies are required tools for the conception of secure and comfortable vehicles. The aim of this paper is to present an efficient way to develop models for dynamic vehicle, focusing on a two wheeled vehicles whose body involves six degrees of freedom. The resulting model is sufficiently generic to perform simulation of realistic cornering and accelerating beha...

Resumen: Se describe el procedimiento para resolver el problema de la cinemática inversa de un brazo robot utilizando algoritmos genéticos a partir de la solución del problema cinemático directo. Se demuestra que este método tiene varias ventajas sobre otros métodos: el mismo algoritmo aplica para dar solución a la cinemática inversa de cualquier brazo robot, independientemente del tipo de arti...

The workspace of a Robot is determined by an analytical method. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation for serial kinematic chains. This method is based upon analytical criteria for determining singular behavior of the mechanism. By manipulating the Jacobian of the robot by the row rank deficiency condition, the singularities...

This chapter presents the study and modelling of KR 6 KUKA Robot, of the Robotics Laboratory, Federal University of Rio de Janeiro, see fig 1. The chapter shows the CAD model (Computer Aided Design), the direct kinematics, the inverse kinematics and the inverse dynamical model. The direct kinematic is based in the use of homogeneous matrix. The inverse kinematics uses the quadratic equations mo...

Researchers often deal with the synthesis of kinematic structure a robotic manipulator to determine optimal for given task. This approach can lower cost and allow it achieve poses that might be unreachable by universal manipulators in an existing constrained environment. Numerical methods are broadly used find optimum design but they require estimated initial as input, especially if local-optim...

In this paper a new strategy for dynamic modeling and parameter identification of complex parallel robots including parallel crank mechanisms is presented. Based on a model reduction strategy motivated by the structure of the parallel robot SpiderMill, kinematics and dynamics are derived in a compact form applying the modified Denavit Hartenberg method and the Newton-Euler approach. The obtaine...

We present algorithms for kinematic manipulation of molecular chains subject to fixed bond lengths and bond angles. They are useful for calculating conformations of a molecule subject to geometric constraints, such as those derived from two-dimensional NMR experiments. Other applications include searching out the full range of conformations available to a molecule such as cyclic configurations....

To meet the special requirements of third mirror adjustment system for an optical telescope, a 6-P-RR-R-RR parallel platform using offset RR-joints is designed with high precision, large load-to-size ratio and stiffness. In order to improve accuracy stiffness whole mechanism, each rotating joint in subchain as zero-gap bead shaft system. When compared traditional Hooke joint, RR has certain cha...

Abstract: This work features a geometric and static analysis of the lower limb during bicycle ride. Basic dimensions are indicated, which are necessary for the description of movement geometry. The simplified flat model was adopted for the analysis. Using the transformation of Denavit-Hartenberg frames, vectors were developed for the position of the rotation axis of the joints in immovable fram...