Abstract To bring about innovation in the development of any product, it is required that designer explores multitude design concepts right at conceptual phase product cycle. At this phase, results structural synthesis and analysis mechanisms have been shown to serve as an invaluable tool attempt infuse novelty being conceptualized. There are several studies available literature dealing with en...

Real-time motion tracking of kinematic chains is a key prerequisite in the control of, e.g., robotic actuators and autonomous vehicles also has numerous biomechanical applications. In recent years, it been shown that, by placing inertial sensors on segments that are connected rotational joints, chain can be tracked accurately. These methods specifically avoid using magnetometer measurements, wh...

Kinematic chains made from links whose lengths and twist angles satisfy a certain proportionality rule are considered. A notion of exchange symmetry for the any such chain affords new understanding mobility well-known overconstrained mechanisms, exemplified by Bennett’s four-bar linkage, provides unifying framework explaining recently discovered class nontrivial underconstrained mechanisms. The...

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 paper presents the idea of constructing reconfigurable kinematic limbs by integrating kinematotropic linkages as subchains. Three kinematotropic chains characterized by change in pair connectivities without change of the number of degrees of freedom are concerned and the branch transitions are analyzed. Reconfigurable kinematic limb that provides a constraint couple in one configuration an...

Recent progress in the algorithm as well as the processor power have made the dynamics simulation of complex kinematic chains more realistic in various fields such as human motion simulation and molecular dynamics. The computation can be further accelerated by employing parallel processing on multiple processors. In fact, parallel processing environment is becoming more affordable thanks to rec...