this paper presents the results of a comprehensive study on the efficiency of planar parallel mechanisms, considering their kinetostatic performance and also, their workspace. this aim is approached upon proceeding single- and multi-objective optimization procedures. kinetostatic performances of ten different planar parallel mechanisms are analyzed by resorting to a recent index, kinematic sens...

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...

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...

the momentum equation in the kinematic wave model is a power-law equation with two parameters. these parameters, which relate the discharge to the flow area, are commonly derived using manning’s equation. in general, the values of these parameters depend on the flow depth except for some special cross sections. in this paper, improved estimates of the kinematic wave parameters for circular chan...

The kinematic sensitivity is a unit-consistent measure that has been recently proposed as a mechanism performance index to compare robot architectures. This paper presents a robust geometric approach for computing this index for the case of planar parallel mechanisms. The physical meaning of the kinematic sensitivity is investigated through different combinations of the Euclidean and infinity n...

The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which two important kinematic properties, namely feasible workspace and kinematic sensitivity, are blended into each other. The proposed index may b...

The momentum equation in the kinematic wave model is a power-law equation with two parameters. These parameters, which relate the discharge to the flow area, are commonly derived using Manning’s equation. In general, the values of these parameters depend on the flow depth except for some special cross sections. In this paper, improved estimates of the kinematic wave parameters for circular chan...

This paper addresses the kinematic sensitivity of the three degree-of-freedom 3-UPU parallel mechanism, a mechanism consisting of a fixed base and a moving platform connected by three serial UPU chains. Although a mathematical mobility analysis confirms that the mechanism has three degrees of freedom, hardware prototypes exhibit unexpected large motions of the platform even when the three prism...