Abstract: A type of actuation used in ancient times, based on twisting wires, is reinvented in this paper. Twisting wires actuation was used long ago to pull heavy objects, but, to the best of the ...

Abstract: This paper derives the expressions of an equivalent finite screw of two successive screw motions in a simplified form using purely vectorial analysis. This is achieved by tracing the trajectories ...

Abstract: Worm-like robots for applications including maintenance of small pipes and medical procedures in biological vessels such as the intestines, urethra, and blood vessels, have been the focus of ...

Abstract: This paper presents a class of 6-DOF three-legged parallel robots that are practically free of parallel singularities. The robots of this class have legs with a characteristic passive pair of ...

Abstract: Manufacturing techniques, especially in the microscale, determine the type of joints, links, and actuators available for the designer, and as a result, the possible kinematic architectures of the ...