Single Degree-of-freedom Coupled Serial Chain (SDCSC) mechanisms form a novel class of modular and compact mechanisms with a single degree-of-freedom, suitable for a number of manipulation tasks. Such SDCSC mechanisms take advantage of the hardware constraints between the articulations of a serial-chain linkage, created using gear-trains or belt/pulley drives, to guide the end-effector motions ...

Single degree-of-freedom coupled serial chain (SDCSC) mechanisms are a class of mechanisms that can be realized by coupling successive joint rotations of a serial chain linkage, by way of gears or cable-pulley drives. Such mechanisms combine the benefits of single degree-of-freedom design and control with the anthropomorphic workspace of serial chains. Our interest is in creating articulated ma...

Methods for solving planar dyads and triads in kinematic synthesis are scattered throughout the literature. A review of a new compilation complex number method is presented. The motivation this paper to formulate uniform solution procedures, pointing out commonalities various approaches emphasizing consistent synthesizing mechanisms defined by specified precision positions. Particular emphasis ...

We use the recently introduced factorization theory of motion polynomials over the dual quaternions for the synthesis of closed kinematic loops with six revolute joints that visit four prescribed poses. Our approach admits either no or a one-parametric family of solutions. We suggest strategies for picking good solutions from this family.

In this work, a new method is introduced for solving large polynomial systems for the kinematic synthesis of linkages. The method is designed for solving systems with degrees beyond 100,000, which often are found to possess a number of finite roots that is orders of magnitude smaller. Current root-finding methods for large polynomial systems discover both finite and infinite roots, although onl...

This study presents new results on a method to solve large kinematic synthesis systems termed Finite Root Generation. The method reduces the number of startpoints used in homotopy continuation to find all the roots of a kinematic synthesis system. For a single execution, many start systems are generated with corresponding startpoints using a random process such that startpoints only track to fi...

Due to the high price of virgin vegetable oils and the drawbacks of the homogeneous catalytic transesterification, in this work an economically profitable alternative process was proposed for biodiesel synthesis in which transesterification of the low-cost waste cooking oil (WCO) with methanol in a heterogeneous system was done. Alumina impregnated with sodium hydroxide was utilized as a solid ...