The paper presents a new methodology for solving the inverse problem of manipulator precision design. Such design problems are often encountered when the end-effector uncertainty bounds are given, but it is not clear how to allocate precision bounds on individual robot axes. The approach presented in this paper uses interval analysis as a tool for uncertainty modelling and computational analysi...

Kinematic position analysis is the first step in creating a complete mathematical model of the new manipulator architecture. This analysis will begin by developing a general descriptive model that characterizes the kinematic geometry of the device. From this geometric model, a mathematical function relating the input-to-output position parameters will be formed. The goal of this function is to ...

A kinematic singularity occurs when the Jacobian matrix associated with the forward kinematic map loses rank. At a singular connguration, the end-eeector velocities are restricted to a subspace of the task space velocities. Also, rate control schemes that require the inversion of the Jacobian matrix fail at such singulari-ties. However, even at a singular connguration, if the kinematic map is g...

A modular parallel robotic system consists of a collection of individual standard units that can be assembled into various robot configurations for a diversity of task requirements. This paper is focused on the design and kinematic analysis of modular reconfigurable parallel robots. A set of fundamental modules is considered. A local frame representation of the ProductOfExponentials (POE) formu...

The ‘failing forward’ synthesis of liberal intergovernmentalism and neofunctionalism puts European member states governments in charge the process integration (Jones et al., [2016]. Failing Forward? Euro Crisis Incomplete Nature Integration. Comparative Political Studies, 48(7), 1010–1034. https://doi.org/10.1177/0010414015617966). However, this placement does not show clearly whether principal...

The inverse problem of hovering flight, that is, the range of wing movements appropriate for sustained flight at a fixed position and orientation, was examined by developing a simulation of the hawkmoth Manduca sexta. Inverse problems arise when one is seeking the parameters that are required to achieve a specified model outcome. In contrast, forward problems explore the outcomes given a specif...