Planar kinematic mapping is applied to the five-position Burmester problem for planar four-bar mechanism synthesis. The problem formulation takes the five distinct rigid body poses directly as inputs to generate five quadratic constraint equations. The five poses are on the fourth order curve of intersection of two hyperboloids of one sheet in the image space. Moreover, the five poses uniquely ...

The main objective of this paper is to study the Euclidean displacement of a 5-DOF parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as Cartesian coordinates and Euler angles. In this paper, Study's...

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...

Introduction we aimed to introduce a 6-universal-prismatic-spherical (UPS) parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. We proposed a strategy to provide a fast and accurate solution to the kinematic problem. The proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required ...

This paper deals with the kinematic synthesis problem of a 3-RRR spherical parallel manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic performances of the manipulator. A multiobjective optimization problem is formulated to optimize the structural and geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the op...

The internal space for a molecule, atom, or other n-body system can be conveniently parameterised by 3n − 9 kinematic angles and three kinematic invariants. For a fixed set of kinematic invariants, the kinematic angles parameterise a subspace, called a kinematic orbit, of the n-body internal space. Building on an earlier analysis of the threeand four-body problems, we derive the form of these k...

In this paper, we describe a solution to the problem of determining the kinematic feasibility of a dextrous hand to grasp a given object at a desired connguration in the two dimensional space. We refer to this problem as kinematic graspability. The kinematic conngu-ration of a grasp is deened in terms of a set of contact pairs between the topological features of the hand and the object. We deri...

We present a novel approach to plan foot placements for a humanoid robot according to kinematic tasks. In this approach, the foot placements are determined by the continuous deformation of a robot motion including a locomotion phase according to the desired tasks. We propose to represent the motion by a virtual kinematic tree composed of a kinematic model of the robot and articulated foot place...