In the present work, reformulation of dynamics a planar two-link manipulator has been presented in form joint errors and their derivatives. The linear second-order differential equations with time-varying coefficients represent Coupled Error Dynamics system. these equations, non-linear centrifugal Coriolis terms are expressed as functions error rates gravity function coefficients. After inclusi...

Clearances caused by assemblage, manufacturing errors and wear, affect inevitably the dynamic responses of mechanisms such as robot manipulator. In this study, effects clearance on a manipulator system are investigated numerically. The contact behavior along normal tangential direction joint is described nonlinear force model modified Coulomb friction respectively. Then, dynamics equations esta...

The static balancing of spatial six-degree-of-freedom parallel mechanisms or manipulators with revolute actuators is studied in this paper. Two static balancing methods, namely, using counterweights and using springs, are used. The first method leads to mechanisms with a stationary global center of mass while the second approach leads to mechanisms whose total potential energy (including the el...

The model of a three dimensional journal bearing with hydrodynamic lubrication is herein presented. This model is suitable for embodiment into the equations of spatial multibody systems. Both rotational and squeeze effects together with tilting effect have been taken into account. Moreover a simplified model of friction has been also reported. The proposed methodology has been applied to an exa...

* Corresponding Authors ABSTRACT This paper studies the geometric design of spatial open loop prismatic-revolute-revolute (PRR) robot manipulators. Four spatial positions and orientations are defined and the dimensions of the geometric parameters of the PRR manipulator are computed so that the manipulator will be able to place its end-effector at these four pre-specified locations. Denavit and ...

The kinematics of robot manipulators is a corner stone in the study of robotics in general. The computational complexity of the kinematics quite often prevents robotics instructors from using robots of general structure in their illustrative examples and assignments. The software discussed in this article, developed from recent research to support an undergraduate course in robotics, offers com...

This paper examines the synthesis of the five degree-of-freedom robot formed by links connected by a revolute, prismatic and spherical joint to form an RPS serial chain. The reachable workspace of this robot is a right circular hyperboloid that defines a constraint equation with 10 dimensional parameters. Evaluating this equation on 10 arbitrary spatial positions yields a polynomial system of t...

In this paper we propose a simple model for the coupling behavior of the human spine for an inverse kinematics framework. Our spine model exhibits anatomically correct motions of the vertebrae of virtual mannequins by coupling standard swing and revolute joint models. The adjustement of the joints is made with several simple (in)equality constraints, resulting in a reduction of the solution spa...