Since a parallel structure is a closed kinematics chain, all legs are connected from the origin of the tool point by a parallel connection. This connection allows a higher precision and a higher velocity. Parallel kinematic manipulators have better performance compared to serial kinematic manipulators in terms of a high degree of accuracy, high speeds or accelerations and high stiffness. Theref...

Biometric based personal authentication is an effective method for automatically recognizing, with a high confidence, a person’s identity. By observing that the texture pattern produced by bending the finger knuckle is highly distinctive, in this paper we present a new biometric authentication system using finger-knuckle-print (FKP) imaging. A specific data acquisition device is constructed to ...

Forward kinematics problem of parallel robots is a very difficult problem to solve in comparison to the serial manipulators due to their highly nonlinear relations between joint variables and position and orientation of the end effector. This problem is almost impossible to be solved analytically. Numerical methods are the most common approaches to solve this problem. Nevertheless, the possible...

A robotic device is proposed by means of which the mastication process could be reproduced in a mechanically controllable way whilst the masticatory efficiency and/or food dynamics are assessed quantitatively. A robotic model of the mastication system is developed according to biomechanical findings about the jaw structure and muscles of mastication, where each of the major muscles are, tempora...

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 ...

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...

This paper deals with the design and analysis of a two-translation and one-rotation (2T1R) mechanism for a novel cooking robot. Firstly the motions involved in stir-fry, the most representative operation in the cooking processes used in Chinese cuisine, are analyzed in details. Then the featured motions are decomposed into four main movements that are used as a design base for a wok motion mech...

The traditional methods for representing forward kinematics of manipulators have been the homogeneous matrix in line with the D-H algorithm. In this paper a new method known as quaternion algebra is described and it is used for three dimensional representation and orientation in robot kinematics. This method is compared with homogeneous transform in terms of easiness of representation, computat...

In this paper, three numerical methods are presented to solve the forward kinematics of a three DOF actuator-redundant hydraulic parallel manipulator. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance...

This paper investigates a new automated personal authentication technique using finger-knuckle-print (FKP) imaging. First, a specific data acquisition device is developed to capture the FKP images. The local convex direction map of the FKP image is then extracted, based on which a coordinate system is defined to align the images and a region of interest (ROI) is cropped for feature extraction a...