This paper deals with the design and analysis of a two-translation and one-rotation (2T1R) mechanism for a novel cooking robot. Firstly the motions involved in stir-fry, the most representative operation in the cooking processes used in Chinese cuisine, are analyzed in details. Then the featured motions are decomposed into four main movements that are used as a design base for a wok motion mech...

The traditional methods for representing forward kinematics of manipulators have been the homogeneous matrix in line with the D-H algorithm. In this paper a new method known as quaternion algebra is described and it is used for three dimensional representation and orientation in robot kinematics. This method is compared with homogeneous transform in terms of easiness of representation, computat...

Nanofluids are kinds of fluids engineered by dispersing nanoparticles in base fluids, a new challenge for thermal sciences provided by nanotechnology. Due to their excellent characteristics, nanofluids find wide applications in enhancing heat transfer. This paper presents synthesis and characterization of TiO2-CNTs nanocomposites by sonochemical method and investigation of some properties...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...

In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character having controller and manipulator based rig for animation within any 3D modeling and animation software. The seamless matching has been achieved through the us...

This paper presents a closed-form solution to the inverse kinematic problem for general fluoroscopic C-arms. The resulting algorithm determines the necessary joint parameters for imaging a given point of interest p from a given direction z. The existence and uniqueness of the solution is proven for all p and z. The inverse kinematics lays the basis for a completely robotized C-arm. The paper de...

Physiologists have shown that increased fluids improve skeletal muscle performance in prolonged exercise.Typical orders provide for 125 mL of intravenous fluids per hour in patients taking limited oral fluids during labor. Our purpose in this study was to determine whether increased intravenous fluids affect the progress of labor. In a prospective randomized institutional clinical trial, on...

This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...