K. Abdel-Malek and W. Yu Department of Mechanical Engineering The University of Iowa Iowa City, IA 52242 Tel. 319-335-5676 [email protected] Abstract A rigorous mathematical formulation for ergonomic design based on obtaining and visualizing the workspace of human limbs is herein presented. The methodology and formulation presented in this paper are aimed at placing the human with re...

 Y. Yang, MS student and author of correspondence, Phone: +86-10-8233-8273, Fax: +86-10-8233-8023, Email: [email protected].  Y. Zhang, Professor and author of correspondence, Phone: +86-10-8233-8023, Fax: +86-10-8233-8023, Email: [email protected]. ABSTRACT This paper presents a procedure to obtain a singularity-free task workspace with a new method to deal with singularities. In order to ...

For the control of robot arm a medical delivery robot, firstly, forward kinematic equations this 7-degree-of-freedom redundant are constructed according to modified D-H method. Secondly, analytical solution inverse kinematics robotic is solved using parameterised angle. Thirdly, simulation experiments were carried out by gazebo and RVIZ in ROS verify correctness process. Finally, Monte Carlo me...

in this paper, two inverse problems of stephen kind with local (dirichlet) boundary conditions are investigated. in the first problem only a part of boundary is unknown and in the second problem, the whole of boundary is unknown. for the both of problems, at first, analytic expressions for unknown boundary are presented, then by using these analytic expressions for unknown boundaries and bounda...

BACKGROUND The concept of reachable workspace is closely tied to upper limb joint range of motion and functional capability. Currently, no practical and cost-effective methods are available in clinical and research settings to provide arm-function evaluation using an individual's three-dimensional (3D) reachable workspace. A method to intuitively display and effectively analyze reachable worksp...

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 ...

A novel 3-PUU parallel robot was put forward, on which kinematic analysis was conducted to obtain its inverse kinematics solution, and on this basis, the limitations of the sliding pair and the Hooke joint on the workspace were analyzed. Moreover, the workspace was solved through the three dimensional limit search method, and then optimization analysis was performed on the workspace of this par...

This paper presents kinematic analysis of B class of parallel manipulators, namely, Hexaslides, for machine tool applications. Hexaslides have constant-length legs. The inverse and direct kinematics solutioos, to study the workspace properties of hexaslides are presented. Various kinematic performance indices, namely, workspace volume, workspace volume index i.e., the ratio of workspace volume ...