Abstract: A kinematic analysis technique is introduced to find the angular velocities of all links in bevel epicyclic gear trains. The method relies on previous work in graph theory. It improves on ...

Abstract: This paper addresses similarities between various nutating or wobbling mechanisms, in particular kinematic similarities. A case is made for the generalization of these mechanisms into a mechanism ...

Abstract: In this paper a systematic way of representing complex cable-pulley mechanism configurations and a method to analyze their motion is presented. This technique can also be used as an aid for ...

Abstract: This paper examines the problem of identifying the assembly configurations (ACs), also called circuits, of planar multi-loop mechanisms with kinematic limitations, such as joint limits, link ...

Abstract: One of the inherent problems of multi-limbed mobile robotic systems is the problem of multi-contact force distribution; the contact forces and moments at the feet required to support it and ...

Abstract: A new analytical method for determining, describing, and visualizing the solution space for the contact force distribution of multi-limbed robots with three feet in contact with the environment ...

Abstract: This paper examines the problem of finding the assembly configurations (ACs), also called circuits, of spatial single-loop single-DOF mechanisms. All six lower pairs are considered: revolute (R), ...