Application of artificial neural network (ANN) in forward kinematic solution (FKS) of a novel co-axial parallel mechanism with six degrees of freedom (6-DOF) is addressed in Current work. The mechanism is known as six revolute-spherical-universal (RSU) and constructed by 6-RSU co-axial kinematic chains in parallel form. First, applying geometrical analysis and vectorial principles the kinematic...

Parallel manipulators are robotic devices that differ from the more traditional serial robotic manipulators by their kinematic structure. Parallel manipulators are composed of multiple closed kinematic loops. Typically, these kinematic loops are formed by two or more kinematic chains that connect a moving platform to a base, where one joint in the chain is actuated and the other joints are pass...

951 planning problem, with proven features as long as the tracking is good enough, and one tracking problem. The tracking problem is solved for a class of nonholonomic robots of the unicycle type, and we illustrate the soundness of our method by applying it to rigid body constrained motions. ACKNOWLEDGMENT The authors would like to thank the three anonymous reviewers for their insightful commen...

A new approach of redundancy resolution for dexterous robots intended for the operations in clustered areas is proposed. These robots are modeled by series kinematic chains with a high number of degrees of freedom and are described by underdetermined systems of kinematic equations. The inverse problem has therefore an infinite number of solutions. The basic idea of the proposed approach is to f...

A way is presented of modeling complex mechanical systems, and particularly closed kinematic chains, that are comprised of elastic components. The motion of each link is viewed using a moving reference frame and the zero tip deformation constraint is introduced to define the orientation of the reference frames. That analysis is combined with the differential-algebraic formulation and the equati...

Abstract The simulation of mathematical models of mechanical systems with closed kinematic chains involves the solution to a system of highly coupled differential-algebraic equations. The numerical stiffness of these systems calls for small time steps in order to insure accuracy. Real-time and interactive forward simulations tend to be difficult to achieve for such systems, especially for large...

We study the path planning problem, without obstacles, for closed kinematic chains with n links connected by spherical joints in space or revolute joints in the plane. The configuration space of such systems is a real algebraic variety whose structure is fully determined using techniques from algebraic geometry and differential topology. This structure is then exploited to design a complete pat...

The generation of movements in closed kinematic chains as opposed to open kinematic chains is a challenging task because all participating joints have to be moved in a highly coordinated manner in order to avoid destructive tensions in the limb. In this paper we present a new decentral joint controller which uses low level interactions between a moving joint and its environment consisting of ne...

This paper concerns the analysis of the screw theory-based kinematic modeling in order to ease the programming process. To do so, an object-oriented computational framework is developed from this analysis. Screw theory and related tools are well used in motion analysis of open and closed kinematic chains, typical of robotic manipulators, in an uniform and systematic way. Their use in the invers...