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...

in this paper, we consider the problem of efficient computation of the forward kinematics of a 6 DOF robot manipulator built to use in rehabilitation purpose. Forward kinematics problem (FKP) of parallel robots is very difficult to solve in comparison to the serial manipulators. This problem is almost impossible to solve analytically. Numerical methods are one of the common solutions for this p...

A differential global positioning system (DGPS) is one of the most widely used augmentation systems for a low-cost L1 (1575.42 MHz) single-frequency GPS receiver. The positioning accuracy of a low-cost GPS receiver decreases because of the spatial decorrelation between the reference station (RS) of the DGPS and the users. Hence, a network real-time kinematic (RTK) solution is used to reduce the...

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...

Application of artificial neural network (ANN) in forward kinematic solution (FKS) of a novel co-axial parallel mechanism with six degrees of freedom (6-DOF) is addressed in Current work. The mechanism is known as six revolute-spherical-universal (RSU) and constructed by 6-RSU co-axial kinematic chains in parallel form. First, applying geometrical analysis and vectorial principles the kinematic...

Formalin-killed promastigotes (FKP) of Leishmania major, in combination with Montanide ISA 720 (MISA), BCG or alum were used in vaccination of an inbred murine model against cutaneous leishmaniasis (CL). Significant and specific increases in anti-FKP IgG responses were detected for both alum-FKP and BCG-FKP compared to MISA-FKP (p < 0.001). Significant increases in splenic lymphocyte recall pro...

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...