Abstract: This paper presents a general method for the analysis of any planar mechanism consisting of rigid links connected by revolute joints. The method combines a complex plane formulation [1] with ...

Abstract: This paper investigates the location of a rigid body such that N specified points of the body lie on N given planes in space. Variants of this problem arise in kinematics, metrology, and ...

Abstract: Spherical linkages, having rotational joints whose axes coincide in a common center point, are sometimes used in multi-degree-of-freedom robot manipulators and in one-degree-of-freedom mechanisms. ...

Abstract: For many mechanical systems, including nearly all robotic manipulators, the set of possible configurations that the links may assume can be described by a system of polynomial equations. Thus, ...

Abstract: This paper considers the design of cylindric PRS serial chains. This five degree-of-freedom robot can be designed to reach an arbitrary set of eight spatial positions. However, it is often ...