A novel dimensional synthesis technique for solving the mixed exact and approximate motion synthesis problem for planar RR kinematic chains is presented. The methodology uses an analytic representation of the planar RR dyads rigid body constraint equation in combination with an algebraic geometry formulation of the exact synthesis for three prescribed locations to yield designs that exactly rea...

A novel dimensional synthesis technique for solving the mixed exact and approximate motion synthesis problem for planar RR kinematic chains is presented. The methodology uses an analytic representation of the planar RR dyad’s rigid body constraint equation in combination with an algebraic geometry formulation of the exact synthesis for three prescribed positions to yield designs that exactly re...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

objectives: the aim of this study was to extract suitable spatiotemporal and kinematic parameters to determine how total knee replacement (tkr) alters patients’ knee kinematics during gait, using a rapid and simplified quantitative two-dimensional gait analysis procedure. methods: two-dimensional kinematic gait pattern of 10 participants were collected before and after the tkr surgery, using a ...

This paper describes a novel method for the synthesis of mechanisms from their qualitative behavioural speci cations. The technique has been implemented in the context of automated design of mechanisms in Technics Lego. We introduce a new kinematic abstraction called a unity machine which is a machine with a single degree of freedom. Unity machines are the mechanical analogues of functions in p...

Synthesis of lifelike gesture is finding growing attention in human-computer interaction. In particular, synchronization of synthetic gestures with speech output is one of the goals for embodied conversational agents which have become a new paradigm for the study of gesture and for human-computer interface. In this context, this contribution presents an operational model that enables lifelike g...

This paper builds on the authors’ planar kinematic synthesis for contact task specifications and formulates the kinematic specification of the synthesis problem for spatial open-serial chains in which a desired acceleration of the endeffector is specified. Applications of this research focus on the design of spatial linkages to maintain specified local motion. A recently developed failure recov...

In this paper, the rigid body guidance problem of general 6 degree of freedom manipulators is studied. A new method, called Distributed Optimization Method (DOM), is used to determine the dimensional parameters of general manipulators that are able to reach a nite number of given six degree of freedom position and orientation tasks. It is shown that the global multi-variable optimization proble...

A new kinematic design methodology is presented for optimization of spherical serial mechanisms. First, a new index, combining global manipulability and the uniformity of manipulability over the workspace, is presented to improve the synthesis results. This method integrates multiple criteria (workspace size, the new manipulability index, and mechanism size) linearly in one objective function. ...