Abstract: This paper presents the definition of a coordinate frame, entitled the principal frame (PF), that is useful for metric calculations on spatial and planar rigid-body displacements. Given a set ...

Abstract: This paper presents a methodology for generating and displaying the coupler surfaces of the spatial 4C mechanism. The 4C mechanism is a two-degree-of-freedom spatial four-bar linkage. The path ...

Abstract: In this paper we present a novel method for approximating a finite set of n spatial locations with n spherical orientations. This is accomplished by determining a design sphere and the ...

Abstract: A novel methodology for detecting self-collisions in spatial closed kinematic chains is presented. In general these chains generate complex three dimensional motions in which their own links will ...

Abstract: This paper presents a framework for generating, representing, and interacting with the line congruences associated with four general finite poses. These line congruences are the solution space ...

Abstract: An open research question is how to define a useful metric on the special Euclidean group SE(n) with respect to: (1) the choice of coordinate frames and (2) the units used to measure linear ...

Abstract: Mechanisms are used in many devices to move a rigid body through a finite sequence of prescribed locations. The most commonly used mechanisms are four-bar planar mechanisms that move an object ...