Background There are obvious problems involved in the accurate description of movement of the intrinsic bones within the foot and ankle. The 26 small bones are difficult, if not impossible to individually represent with standard skin mounted markers for motion analysis [1,2]. This international research collaboration has performed a number of studies in which invasively inserted intracortical p...

This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H ...

This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, fo...

Abstract: This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parall...

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, a novel nanoscale protein based nano actuator concept is described. Molecular kinematic computational tools are developed and included in our Matlab Biokinematics Toolbox to study the protein nanomotor’s performance using geometric criteria. The computational tools include the development of the molecular motor direct and inverse kinematics using the protein’s Denavit and Hartenb...

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which moves in the Cartesian x-y-z space with fixed orientation. New solutions to solve inverse/direct kinematics are proposed and we perform a detailed workspace a...

In this paper we propose an original approach to solve the Inverse Kinematics problem. Our framework is based on Sequential Monte Carlo Methods and has the advantage to avoid the classical pitfalls of numerical inversion methods since only direct calculations are required. The resulting algorithm accepts arbitrary constraints and exhibits linear complexity with respect to the number of degrees ...

In this paper we introduce four new posture-dependent performance indices for control. Two of them are based on an object-oriented metric in the workspace (endeffector dependent) and the other on a linearized approximation of direct kinematics (end-effector independent). All newly defined indices are invariant under rigid-body motions and similarities, they have a geometric meaning, and they ca...

Previous authors have tried to image seismic reflectivity by crosscorrelating passive seismic data, and treating the resultant correlograms as active source seismograms. We provide a mathematical framework for working with passive seismic correlograms that is both appropriate for V (x , y, z) media, and arbitrary source location. Under this framework, correlograms can be migrated with an imagin...