The concept of kinematic chains has been systematically applied to biological systems since the 1950s. The course of a ski jump can be characterized as a change between closed and open kinematic chains. The purpose of this study was to determine a relationship between adjacent segments within the ski jumper's body's kinematic chain during the in-run phase of the ski jump. The in-run positions o...

Closed kinematic chains in mechanical systems represent a challenge for their motion analysis, and therefore, for path planning. Closed mechanisms appear in different areas where path planning algorithms are applied. We propose a method to handle them within Probabilistic RoadMap (PRM) techniques. This method is an extension of the approach proposed in [5]. Our main contribution concerns the ge...

This paper presents the comparison between serial and parallel manipulators. Day by day, the applications of the parallel manipulator in various field is become apparent and with a rapid rate utilized in precise manufacturing, medical science and in space exploration equipments. A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the ...

In this paper, we study the differential kinematics and the kineto-static manipulability indices of multiple cooperating robot arms, including active and passive joints. The kinematic manipulability indices are derived extending previous results on cooperating robots without passive joints. The force manipulability analysis for cooperative robot systems cannot be straightforwardly derived by “d...

In this paper, kinematic modeling and singularity and stiffness analysis of a 3-d.o.f. redundant parallel manipulator have been elaborated in detail. It is known that, contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled non-linear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting...

W e present a randomized approach t o path planning f o r articulated robots that have closed kinematic chains. The approach extends the probabilistic roadmap technique which has previously been applied t o rigid and elastic objects, and articulated robots without closed chains. Our work provides a framework f o r path planning problems that m u s t satisfy closure constraints in addition t o s...

The Direct Linearization Method (DLM) for tolerance analysis of 3-D mechanical assemblies is presented. Vector assembly models are used, based on 3-D vector loops which represent the dimensional chains that produce tolerance stackup in an assembly. Tolerance analysis procedures are formulated for both open and closed loop assembly models. The method generalizes assembly variation models to incl...

Aiming at the hand rehabilitation of stroke patients, a wearable hand exoskeleton with circuitous joint is proposed. The circuitous joint adopts the symmetric pinion and rack mechanism (SPRM) with the parallel mechanism. The exoskeleton finger is a serial mechanism composed of three closed-chain SPRM joints in series. The kinematic equations of the open chain of the finger and the closed chains...

This paper uses the kinematic mapping into the image space of spherical displacements to design a cooperating spherical robot system for workpiece orientating. The kinematic chain formed b y the cooperating robots grasping the workpiece forms a multi degree of freedom closed chain which is also known as a robotic mechanism. The spherical robots considered are spherical RPR open chains and they ...