Abstract: Often, the dynamic behavior of multi-degree-of-freedom mechanical systems such as robots and manipulators is studied by computer simulation of their dynamic equations. An important step in the ...

Abstract: This paper proposes a formulation based on Kane’s method to form the dynamic equations of motion of multibody systems using dual vectors. Both holonomic and nonholonomic systems are considered ...

Abstract: This paper deals with optimization of a class of linear dynamic systems with n states and m control inputs, commanded to move between two fixed states in a prescribed final time. This problem ...

Abstract: In-parallel systems can have some active and some passive joints (i.e., joints with and without joint actuators). The questions that we address in this paper are: how to choose the active and ...

Abstract: Center of mass is an important property of a mechanism. In biomechanics, in many studies, one monitors the motion of this point. The center of mass has importance in development of gravity ...

Abstract: The problem of nonlinear hydrodynamic stability of a film coating on a surface subject to spatially varying disturbances is formulated and solved. The characteristics of the wavy surface of the ...

Abstract: This paper describes a three-degrees-of-freedom parallel-actuated wrist mechanism developed at Ohio University. This mechanism is capable of pointing an axis within a cone from the nominal position. ...

Abstract: This paper is concerned with the theory of differential equations of motion for a class of unrooted (i.e., without kinematical constraints to a Galilean frame) mechanisms called orthotropic ...

Abstract: This paper discusses the optimal solution of Mayer’s problem for globally feedback linearizable time-invariant systems subject to general nonlinear path and actuator constraints. This class of ...