This paper presents a fully decoupled parallel 2-DOF spherical mechanism, named HEMISPHERE. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Then, a practical architecture is presented, which employs only two kinds of 1-DOF kinematic pairs: revolute joint and prismatic pair. Next, following the discussion about the limitation from the friction circle of the rev...

In this paper the direct kinematic model of a multiple applications three degrees of freedom industrial manipulator, was developed using the homogeneous transformation matrices and the Denavit Hartenberg parameters, likewise the inverse kinematic model was developed using the same method, verifying that in the workload border the inverse kinematic presents considerable errors, therefore a genet...

Active deformation in Alborz range is due to N-S convergence between Arabia and Eurasia. This paper provides geomorphic traces of regional deformation in NW Iran in order to characterize active faulting on major faults. Soltanieh and North Zanjan fault systems are involved in convergence boundary extent between South Caspian Basin and Central Iran. Soltanieh and North Zanjan faults are major re...

This paper presents a new general method for obstacle representation in the configuration space (C-space) for redundant robots. The method is based on the analytical deconstruction of the C-space, i.e., the separated evaluation of the C-space portion contributed by the collisions of each link in the kinematic chain. The systematic application of a simple convolution of two functions describing ...

This paper describes new factorization algorithms that exploit branch-induced sparsity in the joint-space inertia matrix (JSIM) of a kinematic tree. It also presents new formulae that show how the cost of calculating and factorizing the JSIM vary with the topology of the tree. These formulae show that the cost of calculating forward dynamics for a branched tree can be considerably less than the...

Taking inspiration from the hypothesis of muscle synergies, we propose a method to generate open loop controllers for an agent solving point-to-point reaching tasks. The controller output is defined as a linear combination of a small set of predefined actuations, termed synergies. The method can be interpreted from a developmental perspective, since it allows the agent to autonomously synthesiz...

a new type of backbone robot is presented in this paper. the core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. this design does not suffer from the weaknesses of the continuum design suc...

in the present work, the influences of temperature, solvent concentration and ultrasonic irradiation time were numerically analyzed on viscosity reduction of residue fuel oil (rfo). ultrasonic irradiation was applied at power of 280 w and low frequency of 24 khz. the main feature of this research is prediction and optimization of the kinematic viscosity data. the measured results of eighty-four...