This paper examines the problem of realizing a 6-DOF motion platform by proposing a closed loop kinematic architecture that benefits from an anthropological serial manipulator design. In contrast to standard motion platforms based on linear actuators, a mechanism with actuator design inspired from anthropological kinematic structure offers a relatively larger motion envelope and higher dexterit...

In this paper, we consider the problem of cooperatively localizing a formation of networked robots/vehicles in SE(2). First, we propose necessary and sufficient conditions to establish when a team of robots with heterogeneous sensors can be localized. We then show how these conditions are analogous to well-known results in the literature on kinematics of planar mechanisms. We show how localizat...

In the design activity, part geometry is assembled together to create an assembly model. The number of parts can range from a few tens to a few millions and typically the relationships among them construct a closed-loop with under-constrained states in a constraint graph. In this paper, we propose an efficient and robust 3D constraint solving method for determining part positions in closed-loop...

Articulated robot arms offer maximum positioning flexibility but suffer from complex kinematics. In most applications, linear motion is desirable. Calculating the kinematic equations which govern an articulated arm is straight forward; however, it is generally difJicult to calculate the inverse kinematic equations that are needed to position the arm in closed form. Using a fuzzy reasoning syste...

closed kinematic chains and 1 2 ) as a force constrainad mechanical system working on the samo object simultaneously. based on a feedback linearization and simultaneous output docoupling technique. Applying a nonli ear faodback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system....

This paper presents a planar parallel mechanism which can achieve very rapid motion due to the low inertia of its moving parts and the use of multiple simultaneous specification (MSS) control. The proposed parallel manipulator was designed based on a Prismatic-RevoluteRevolute kinematic structure. The proximal prismatic joints were realized using a linear slider with a ball screw mechanism. All...

Serial robots and parallel robots have their own pros and cons. While hybrid robots consisting of both of them are possible and expected to retain their merits and minimize the disadvantages. The Delta-RST presented here is such a hybrid robot built up by integrating a 3-DoFs traditional Delta parallel structure and a 3-DoFs RST robotic wrist. In this paper, we focus on its kinematics analysis ...

closed kinematic chains and 1 2 ) as a force constrainad mechanical system working on the samo object simultaneously. based on a feedback linearization and simultaneous output docoupling technique. Applying a nonli ear faodback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system....