Abstract: Wrenchclosure is an important property of cabledriven parallel manipulators (CDPMs), representing the ability to generate wrench in any direction by positive cable forces. For single link CDPMs, it is well known that ...

Abstract: The study of the relationship between the desired system dynamics and the actuation wrench producing those dynamics is important for robotic system analysis. For traditionally actuated robots, the quality indices of dexterity ...

Abstract: This paper presents a new parallel algorithm for the operational space dynamics of unconstrained serial manipulators, which outperforms contemporary sequential and parallel algorithms in the presence of two or more processors. ...

Abstract: Characterization of cell mechanical properties plays an important role in disease diagnoses and treatments. This paper uses advanced atomic force microscopy (AFM) to measure the geometrical and mechanical properties of two ...