This paper gives closed-form solutions (requiring linear and quadratic equations only) for the forward displacement and velocity kinematics of two parallel kinematic chain designs presented by Hunt and Primrose in 1993, 4]. The solutions rely on a simple geometric algorithm that nds the top of a tetrahedron if the base triangle and the lengths of all of its sides are known. The forward kinemati...

In this study, we developed parallel link mechanisms by using multi-drive linear motors. Kinematics, dynamics, and control method of a three-degree-of-freedom (xyθ) planar parallel link mechanism with four redundant moving parts (3D4M mechanism) were investigated. A prototype of the 3D4M mechanism, which has decoupled dynamic characteristics, was developed. A notable kinematic characteristic of...

We present a novel algorithm to estimate robot kinematic manifolds incrementally. We relate manifold learning with the forward and inverse kinematic of robots. The learned structure encodes this functions and so it is possible to recover them from the manifold. Our algorithm works without any knowledge of the robot kinematics and can potentially work in highly-dimensional spaces. We present som...

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on ...

When humans perform maximum height squat jumps, their segmental rotations contribute in a proximodistal sequence to the vertical acceleration of the center of gravity. The same kinematic pattern occurs in a forward dynamic model of the musculoskeletal system when muscle stimulation is optimized to maximize jump height. This paper examines why this kinematic pattern maximizes jump height in huma...

In this note we present a different approach to the A∞ extrapolation via Carleson measures developed in [HM] and we illustrate the use of this technique by reproving a well known result of [FKP]. The AMSI-ANU Workshop on Spectral Theory and Harmonic Analysis ANU, Canberra, 13--17 July, 2009 Proceedings of the Centre for Mathematics and its Applications 44 (2010), 143--166.

This paper will provide the kinematic and dynamic analysis of a lower limb exoskeleton. The forward and inverse kinematics of proposed exoskeleton is performed using Denevit and Hartenberg method. The torques required for the actuators will be calculated using Lagrangian formulation technique. This research can be used to design the control of the proposed exoskeleton. Keywords—Dynamic Analysis...

The purpose of this study was to compare muscle activity, kinematic, and oxygen consumption characteristics between forward and reverse arm cranking. Twenty able-bodied men performed 5-min exercise bouts of forward and reverse arm cranking while electromyographic (EMG), kinematic, and oxygen consumption data were collected. EMG activity of biceps brachii, triceps brachii, deltoid, and infraspin...

This contribution addresses forward kinematic solution of modular hybrid manipulator which includes two same Stewart mechanism in serial form known as 2-(6UPS) manipulator. First, using geometrical and vectorial analysis, mathematical model of kinematic analysis for 2-(6UPS) is extracted. As mapping the length of pods to location (orientation and position) of moving mid and upper platforms (for...