Abstract: This paper presents a general method for the analysis of planar mechanisms consisting of rigid links connected by rotational and/or translational joints. After describing the links as vectors ...

Abstract: The problem of synthesizing a planar 4-bar with given pivots such that the coupler curve passes through five precision points is considered. It is shown that the design parameters must satisfy ...

Abstract: Resolved-rate and resolved-acceleration controllers have been proposed for manipulators whose trajectories are determined by real-time sensory feedback. For redundant manipulators, these controllers ...

Abstract: Many problems in mechanism design and theoretical kinematics can be formulated as systems of polynomial equations. Recent developments in numerical continuation have led to algorithms that compute ...

Abstract: The problem of finding all four-bar linkages whose coupler curve passes through nine prescribed points has been a longstanding unsolved problem in kinematics. Using a combination of classical ...