Abstract: The control of multiple manipulators handling a common object entails the solution of an underdetermined system of linear equations which represents the system’s dynamics. In order to choose an ...

Abstract: In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce ...

Abstract: The vibration of linear mechanical systems with arbitrary damping is known to pose challenging problems to the analyst, for these systems cannot be analyzed with the techniques pertaining to ...

Abstract: In this paper, the kinematic inversion of redundant parallel manipulators in the presence of incompletely specified tasks is formulated as an optimization problem. The performance index used is ...

Abstract: The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The ...

Abstract: The problem of mobility associated with four-bar linkages is addressed in this paper. The mobility analysis is reduced to finding the global extrema of a quadratic function on a cylinder, which ...

Abstract: As shown elsewhere, the approximate least-square synthesis of function-generating linkages can be formulated in terms of one single decision variable. Hence, functions representing global properties ...

Abstract: Sets of constraints on analytic functions of linkage parameters, equivalent to those of Grashof’s mobility criteria, are derived. These inequalities represent necessary and sufficient mobility ...

Abstract: In this paper, the design of a planar three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Four different design criteria are established and used to produce ...