Abstract: For a rigid body in two, three, four, and five finitely separated positions, the loci of the screw axes and other special lines are derived. It is shown that the classical planar theory is ...

Abstract: The well-known finite-position planar theory of kinematic synthesis (the so-called Burmester theory) and the corresponding spherical theory are derived from the results of the general spatial ...

Abstract: This paper deals with the computation of grasping forces for grasps using three-fingered tip-prehension. Of primary interest is the optimization of the internal forces and the direct computation ...

Abstract: Problems in mechanisms analysis and synthesis and robotics lead naturally to systems of polynomial equations. This paper reviews the state of the art in the solution of such systems of equations. ...

Abstract: This paper is concerned with the effects of actuation schemes on three measures of kinematic performance which depend upon a manipulator’s Jacobian matrix (namely, the minimum singular value, ...

Abstract: In this paper we study spatial polygons which are closed figures composed of ordered sets of lines and their common normals. It is shown how to solve for up to six of the parameters which ...

Abstract: A rigid body is studied in a series of different positions. These positions can be finitely separated, infinitesimally separated, or a combination of the two. A general method for determining ...

Abstract: A general method for synthesizing spatial linkages (derived in a previous paper [1]) is applied to the design of various types of binary links and combined link chains. Equations governing ...

Abstract: A general index of the quality of motion transmission for spatial mechanisms is developed using the theory of screws. This index is shown to be related to the mechanical error possible in a ...