In this paper, we attempt to present the design algorithm of the windshield wiper mechanisms. In order to analyze the windshield wiper mechanisms, three mechanical models are developed: kinematic model – to evaluate and optimize the kinematic function of the mechanism; inverse dynamic model – to determine the crank turning torque applied to the input element in order to generate the kinematical...

This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...

A new approach is presented for the animation of articulated figures. We propose a system of articulated motion design which offers a full combination of both direct and inverse kinematic control of the joint parameters. Such an approach allows an animator to interactively specify goal-directed changes to existing sampled joint motions, resulting in a more general and expressive class of possib...

Ligands for neuronal receptors are important for understanding the biological functions as well as for treatment of neuronal diseases associated with. Here, we report diverted synthesis and biological evaluation of four C-ring analogs of IKM-159, a subtype-selective inhibitor for (S)-2-amino-3-(3-hydroxy-5-methyl-4-isoxazolyl)propionic acid (AMPA)-type ionotropic glutamate receptor. Starting fr...

Since a parallel structure is a closed kinematics chain, all legs are connected from the origin of the tool point by a parallel connection. This connection allows a higher precision and a higher velocity. Parallel kinematic manipulators have better performance compared to serial kinematic manipulators in terms of a high degree of accuracy, high speeds or accelerations and high stiffness. Theref...

Learning an inverse kinematic model of a robot is a well studied subject. However, achieving this without information about the geometric characteristics of the robot is less investigated. In this work, a novel control approach is presented based on a recurrent neural network. Without any prior knowledge about the robot, this control strategy learns to control the iCub’s robot arm online by sol...

Most research papers about parallel kinematic chain mechanisms investigate symmetric robot manipulators, in which all the limbs connecting the end-effector to the fixed based are composed by the same sequence of links and joints. Contrarily, in some manipulation tasks the velocity and stiffness requirements are anisotropic. In such cases, the asymmetric parallel kinematic chain mechanisms may o...

In order to research kinematic reliability of 3-UPS-PU parallel mechanism, the structure and kinematics analysis were performed. Inverse kinematics equation can be derived by homogeneous coordinate transformation formula. Position and orientation output error forward kinematics model was obtained by the differential transformation on the basis of inverse kinematic solution of the position. The ...

Kinematic position analysis is the first step in creating a complete mathematical model of the new manipulator architecture. This analysis will begin by developing a general descriptive model that characterizes the kinematic geometry of the device. From this geometric model, a mathematical function relating the input-to-output position parameters will be formed. The goal of this function is to ...