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...

in this paper, we consider the problem of efficient computation of the forward kinematics of a 6 DOF robot manipulator built to use in rehabilitation purpose. Forward kinematics problem (FKP) of parallel robots is very difficult to solve in comparison to the serial manipulators. This problem is almost impossible to solve analytically. Numerical methods are one of the common solutions for this p...

This article investigates the forward kinematics problem formulation and resolution specifically applied to spatial parallel manipulators which allow only for translationnal displacements of the end-effector. The translation manipulator is usually constituted of three to six kinematics chains with three actuators usually located on the base. These mechanisms are designed to prevent any rotation...

Formalin-killed promastigotes (FKP) of Leishmania major, in combination with Montanide ISA 720 (MISA), BCG or alum were used in vaccination of an inbred murine model against cutaneous leishmaniasis (CL). Significant and specific increases in anti-FKP IgG responses were detected for both alum-FKP and BCG-FKP compared to MISA-FKP (p < 0.001). Significant increases in splenic lymphocyte recall pro...

Based on a proven exact method to solve the forward kinematics problem , this article investigates the forward kinematics problem formulation specifically applied to planar parallel manipulators. This first part focuses on the position-based equation systems. The majority of planar tripods can modeled by the 3-RPR parallel manipulator. This manipulator is a tripod constituted by a fixed base an...

iii Summary In last few years, the demand for micro motion devices increases in many industrial applications; especially fields of assembling micro machines, manipulating biological cells, and micro-surgical operation. As a consequence, there is an urgent need to develop dexterous micro-manipulators. However, the field of manipulating microscopic objects places hard requirements on the design p...

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...

Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics modelling ...

This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systemically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end...