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...

This paper presents a robust tracking controller equipped with a fast friction estimator for a 6-DOF parallel electrical manipulator in the joint-task space. Parallel manipulator control scheme mainly stems from two frameworks: the task space control and the joint space control. The former requires the system states obtained via costly direct measurements or time-consuming forward kinematics. T...

This paper addresses the problem of merging multiple views of a static scene into a common coordinate frame, explicitly considering uncertainty. It assumes that a static world is observed by an agile vision system, whose movements are known with a limited precision, and whose observations are inaccurate and incomplete. It concentrates on acquiring uncertain three-dimensional information from mu...

This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...