In this paper, a simple and convenient method – Recursive Matrix method – is proposed for kinematic and dynamic analysis of all types of complex manipulators. After addressing the principle of the method, an example – a 3-DOF parallel manipulator with prismatic actuators – is demonstrated for the efficiency of the method in solving kinematic and dynamic problems of complex manipulators. With th...

In this paper conformal geometric algebra is used to formalize an algebraic embedding for the problem of monocular pose estimation of kinematic chains. The problem is modeled on the base of several geometric constraint equations. In conformal geometric algebra the resulting equations are compact and clear. To solve the equations we linearize and iterate the equations to approximate the pose and...

This paper deals with the kinematic synthesis of manipulator. A new method based on distributed solving is used to determine the dimensional parameters of a general manipulator which is able to reach a set of given tasks speciied by orientation and position. First, a general Distributed Solving Method (DSM) is presented in three steps : the problem statement, the objective functions formulation...

Designing a movable spatial four-bar mechanism that guides a coupler system through three given poses is an old and well known problem. The resulting mechanism has to be overconstrained and is called Bennett mechanism. We give a completely new solution of this problem using kinematic mapping and multidimensional geometry. This approach provides a new insight in the problem. First of all it show...

In the present paper, an attempt has been made to carry out kinematic and dynamic analysis of a six-legged robot. A three-revolute (3R) kinematic chain has been chosen for each leg mechanism in order to mimic the leg structure of an insect. Denavit–Hartenberg (D-H) conventions are used to perform kinematic analysis of the six-legged robot. The direct and inverse kinematic analysis for each leg ...

The article presents the problem of selecting kinematic structures for the proposed portable machine tool. Developed methodology of selection has been based on the detailed design requirements and elimination conditions formulated thanks to them. The paper describes the program developed to assist the process of selecting the kinematic structures for the portable machine tool and the results ac...

Solving the inverse kinematic-rate problem is an old and ever-present problem in robotics. Many methods of solution for this problem have been discussed over the past 30 years and, as computational speeds have improved, there has been greater expectation that this calculation will be performed online. This paper compares the merits of many of the methods already presented and describes a new ap...

The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the singular configuration is characterized. On parallel singular configurations, the motion produce by the mobile platform can be compared to the Reuleaux straight-line mechanism.

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...

The inverse kinematics problem of a two degree of freedom (2DOF) planar robot arms issolved using Adomian’s decomposition method (ADM), after converting to a system of twononlinear algebraic equations. The advantage of the method is that it gives the solutions asfunctions of the desired position of the end effecter and the length of the arms. The accuracyof the solutions can be increased up to ...