Abstract To address the issue of motion coordination in lower limb exoskeleton rehabilitation robots, and to meet basic characteristics ergonomics human kinematics, a humanoid design was adopted robot. The Denavit- Hartenberg (D-H) mathematical model robot established, each joint were analyzed obtain D-H parameters during process. from perspectives forward kinematics inverse kinematics. variati...

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The mani...

This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of threerevolute orthogonal manipulators that have at least one of their DH parameters equal to zero. Then a new performance index based on the RDW is introduced, the isocontours of this index are plotted in the parameter space of the interesting types of manipulators and finally an inspection o...

Using the ARGUS detector at the e+e storage ring DORIS II, we have measured the Michel parameters , , and for ! l  decays in -pair events produced at center of mass energies in the region of the resonances. Using ! as spin analyzing tags, we nd e = 0:68 0:04 0:08, e = 1:12 0:20 0:09, e = 0:57 0:14 0:07, = 0:69 0:06 0:08, = 1:25 0:27 0:14 and = 0:72 0:18 0:10. In addition, we report the combine...

In the presence of nuisance parameters, we derive an explicit higher order asymptotic formula to compare the expected lengths of conndence intervals given by likelihood ratio statistics arising from the usual proole likelihood and various adjustments thereof. Highest posterior density regions, with approximate frequentist validity, are also included in the study.

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves of the manipulator. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The design parameters space is shown to ...

Sensitivity analysis (SA) has become a basic tool for the understanding, application and development of models. However, in the past, little attention has been paid to the effects of the parameter sample size and parameter variation range on the parameter SA and its temporal properties. In this paper, the corn crop planted in 2008 in the Yingke Oasis of northwest China is simulated based on met...

In this study, we derive sensitivity equations for the problem of optimization-based motion prediction of a mechanical system using the inverse recursive Lagrangian formulation. The simulation and sensitivity formulations are based on Denavit–Hartenberg transformation matrices. External forces and moments are taken into account in the formulation. The sensitivity information is needed in the op...

This paper proposes a new notation for kinematic structures which allows a unified description of serial, parallel, and hybrid robots or articulated machine tools. During the past decades, the well-known Denavit-Hartenberg parameters have been used widely to describe serial kinematics of robots in science and industry. Till now, such a common notation for parallel manipulators has not yet been ...