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 multibody mechanics, the motion analysis for a platform (the kinematics problem) can be classified into two cases: the forward kinematics and the inverse kinematics problems. For the forward kinematics problem, the trajectory of a point on a mechanism (for example, the end effector of a robot arm or the center of a platform support by a parallel link manipulator) is computed as a function of...

In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character having controller and manipulator based rig for animation within any 3D modeling and animation software. The seamless matching has been achieved through the us...

This paper proposes a new family of four degrees-of-freedom (dof) parallel mechanisms with two platforms and its application to a footpad device that can simulate the spatial motions of the human foot. The new mechanism consists of front and rear platforms, and three limbs. Two limbs with 6-dof serial joints (P-S-P-P) are attached to each platform and are perpendicular to the base plate, while ...

Let e¿ = (S„)jl i, A = (ei)4" j and let A be an infinite matrix which maps E into E where E is an FK-spa.ce with Schauder basis A. Necessary and sufficient conditions in terms of the matrix A are obtained for E to be dense in the summability space Ea = {3c|j43cG£} and conditions are obtained to guarantee that Ea has Schauder basis A. Finally it is shown that if weak and strong sequential conver...

This paper presents a novel compact design for a two degrees of freedom (DOF) joint mechanism. The joint is optimized for compactness, strength and range of motion which makes it ideal for constructing spatial or three-dimensional hyper redundant robots. We also identify and classify various prior joint designs that led to the development of this new concept. Finally, we present the joint forwa...

In general, the identification and verification are done by passwords, pin number, etc., which is easily cracked by others. Biometrics is a powerful and unique tool based on the anatomical and behavioral characteristics of the human beings in order to prove their authentication. This paper proposes a novel recognition methodology of biometrics named as Finger Knuckle print (FKP). Hence this pap...

The kinematics of manipulator is a central problem in the automatic control of robot manipulators. Theoretical background of the analysis of the MA-2000 educational robot arm kinematics is presented in this paper. The revolute robot consists of six rotary joints (6-DOF) with base, shoulder, elbow, wrist pitch, wrist yaw and wrist roll. The kinematics problem is defined as transformation from th...