The main objective of this paper is to study the Euclidean displacement of a 5-DOF parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as Cartesian coordinates and Euler angles. In this paper, Study's...

Parallel manipulators have separate serial kinematic chains that are linked to the ground and the moving platform at the same time. They have some potential advantages over serial robot manipulators such as high accuracy, greater load capacity, high mechanical rigidity, high velocity and acceleration (Kang et al., 2001; Kang & Mills, 2001). Planar Parallel Manipulators (PPMs), performing two tr...

The inverse problem of hovering flight, that is, the range of wing movements appropriate for sustained flight at a fixed position and orientation, was examined by developing a simulation of the hawkmoth Manduca sexta. Inverse problems arise when one is seeking the parameters that are required to achieve a specified model outcome. In contrast, forward problems explore the outcomes given a specif...

the main objective of this paper is to study the euclidean displacement of a 5-dof parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as cartesian coordinates and euler angles. in this paper, study&a...

The utility of a mobile manipulator largely depends on its kinematic structure and mounting point on the robot body. The reachable workspace of the robot can be obtained offline and modeled as a discretized map called Reachability map. A Capability map is obtained by including some quality measure for the local dexterity of the manipulator, which helps to identify good and bad regions for manip...

Real-time magnetic resonance imaging (rtMRI) provides information about the dynamic shaping of the vocal tract during speech production.1 We develop a dynamical system in the framework of Task Dynamics2 which controls vocal tract constrictions and induces deformation of the air-tissue boundary. The system parameterizes the air-tissue boundary through factor analysis of rtMRI videos and characte...

Symbolic Lagrangian formulations of the equations of motion of tree structured constrained mechanical systems have the potential to be both more efficient and more numerically robust than formulations which use nonlinear kinematic constraint equations. We derive a simple recursive factorization of the Lagrangian equations of motion which, along with our extended implementation of the D* symboli...

The paper derives the inverse and the forward kinematic equations of a serial – parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. These legs are connected in a way that the ...

We formulate the kinematic equations-of-motion of wheeled mobile robots incorporating conuentionaI, omnidirectional, and ball wheels. While our approach parallels the kinematic modeling of stationary manipulators, we extend the methodology to accommodate such special characteristics of wheeled mobile robots as multiple closed-link chains, higher-pair contact points between a wheel and a surface...