This paper presents the optimal mechanism design and dynamic analysis of a prototype 3-leg 6-DOF (degree-of-freedom) parallel manipulator. Inverse kinematics, forward kinematics, inverse dynamics and working space characterizing the platform motion are derived. In the presented architecture, the base platform has three linear slideways individually actuated by a synchronous linear servo motor, ...

In this paper, the kinematics and inverse dynamics of a novel kind of mechanism called a general 3-PRS parallel mechanism is investigated. In the kinematics study, the inverse kinematics solution is derived in closed form, and the forward kinematics problem is resolved by the Newton iterative method seeking for an on-line solution to this issue. The inverse dynamics analysis is approached with ...

As will be apparent to anyone reading this book, the practitioners of N-body simulations have an enormous variety of preoccupations. Some are essentially pure mathematicians, who view the field as an exciting application for abstruse theory. Others enjoy formulating and tackling mathematically-neat problems, with little concern over whether the particular restrictions that they impose are also ...

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the DenavitHartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks f...

Two-dimensional (2D) nanofabrication processes such as lithography are the primary tools for building functional nanostructures. The third spatial dimension enables completely new devices to be realized, such as photonic crystals with arbitrary defect structures and materials with negative index of refraction [1]. Presently, available methods for threedimensional (3D) nanopatterning tend to be ...

In this paper we consider a complete dynamic model for the \Sphericle", a spherical vehicle that has been designed and realized in our laboratory. The sphericle is able to roll on the oor of the laboratory and reach arbitrary positions and orientations, through the use of only two motors placed within the rolling sphere. In this paper, we report on the derivation of the kinematic model of the S...

We present a new deep 21-cm survey of the Andromeda galaxy, based on high resolution observations performed with the Synthesis Telescope and the 26-m antenna at DRAO. The Hi distribution and kinematics of the disc are analyzed and basic dynamical properties are given. The rotation curve is measured out to 38 kpc, showing a nuclear peak at 340 km s, a dip at 202 km s around 4 kpc, two distinct f...

The wake of a sphere undergoes a number of symmetry-breaking transitions as it changes from laminar to turbulent. This paper concentrates on the "rst two transitions. At Re"212 a regular transition occurs, when the wake develops a spectacular two-tailed structure consisting of two trailing streamwise vortices. During the second transition at Re"272 the #ow undergoes a Hopf bifurcation. In this ...

Porto, the institutional repository of the Politecnico di Torino, is provided by the University Library and the IT-Services. The aim is to enable open access to all the world. Please share with us how this access benefits you. Your story matters. The human hand is an extremely complex system due to its large number of degrees of freedom (DoF) within a significantly reduced space. Moreover, it i...