In this study, boundary element method was used to model sea wave propagation on a hemisphere shape under water tank and oil-water common surface oscillation in the tank. Also, kinematic and dynamic oundary conditions of free surface and common surface of oil and water were discritized by Finite difference method. There were some singularities in BEM method, which were removed by applying zonin...

This paper introduces the theoretical design of reconfigurable machine tools using modular design approach. First, the general concept of modular robot and its growing need is introduced. Second, the design of reconfigurable parallel kinematic machines is discussed and the geometric modeling of such figures is presented and explained, and potential applications are described. Finally, a case st...

Abstract: This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parall...

Precise teleoperation of deztrous robotic hands b y hand masters requires an accurate human hand model. A kinematic model of a human index finger is developed as an example for human hand modeling. The parameters of the model are determined b y open-loop kinematic calibration. Singular value decomposition is used as a tool for analyzing the kinematic model and the identification process. Accura...

The project-based undergraduate J-term course Kinematics and Mechanism Design is described, both technically and from a pedagogy point of view. In this course students discovered the kinematic car, a classic example of a nonholonomic mechanical system that everyone can relate to; especially mechanical engineering students. Technical work entailed kinematic modeling using MATLAB/SIMULINK and CAD...