Introduction we aimed to introduce a 6-universal-prismatic-spherical (UPS) parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. We proposed a strategy to provide a fast and accurate solution to the kinematic problem. The proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required ...

A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for all three legged, three degree of freedom planar parallel manipulators thus reduces to determining the points of intersection of three of these constraint surfaces, one corresponding to each leg. The invers...

We describe a parametric synthesis algorithm for planar mechanical systems comprised of higher kinematic pairs in which each part lmnslates along a fixed axis or rotales around a fixed point. Kinematic function is computed from the CAD models of the parts and is represented graphically as configuration spaces. The designer uses the mouse to request changes in the configuration spaces. The progm...

We describe a parametric synthesis algorithm for planar mechanical systems comprised of higher kinematic pairs in which each part lmnslates along a fixed axis or rotales around a fixed point. Kinematic function is computed from the CAD models of the parts and is represented graphically as configuration spaces. The designer uses the mouse to request changes in the configuration spaces. The progm...

Planar kinematic mapping is applied to the five-position Burmester problem for planar four-bar mechanism synthesis. The problem formulation takes the five distinct rigid body poses directly as inputs to generate five quadratic constraint equations. The five poses are on the fourth order curve of intersection of two hyperboloids of one sheet in the image space. Moreover, the five poses uniquely ...

We consider the kinematics and control of a sphere rolling of a curved surface and analyze its rotation by mapping the system to the precession of a spin 1/2 in a magnetic field of variable magnitude and direction. This mapping is useful in understanding the role of the geometrical phase and generalizes the kinematic control problem of a ball rolling on a plane.

A task must be specified in teTTn$ of both the position (lnd stiffness of the-limb before muscle forces and activations are unambiguously assigned. To illustrate this, we begin with the problem of how to control an inverted pendulum with a pair of muscles. An active state model of the frog's gastrocnemius is used to derive three criteria for the stiffness characteristics of the system during po...