Abstract: Linear analysis of motion screws is a means for determining the mobility of a mechanism composed of the parallel combination of serial kinematic chains. Such a mechanism may have one or more ...

Abstract: The kinematic differential equations express the paths taken by points, lines, and coordinate frames attached to a rigid body in terms of the instantaneous screw for the motion of that body. ...

Abstract: For a platform connected to its base through two chains forming a single loop, the instantaneous mobility may be expressed by a set of motion screws that is in the intersection of the sets ...

Abstract: A time-varying instantaneous screw characterizes the motion of a rigid body. The kinematic differential equation expresses the path taken by any point on that rigid body in terms of this screw. ...

Abstract: The parallel connection of a revolute-spherical-revolute Clemens linkage with a revolute-universal joint (RU) spherical linkage realizes a two-axis spherical pointing device suitable for use in a ...

Abstract: The kinematic differential equation for a spatial point trajectory accepts the time-varying instantaneous screw of a rigid body as input, the time-zero coordinates of a point on that rigid body ...

Abstract: Congruent triangles establish that a class of intersecting-shaft couplings is constant velocity. These mechanisms employ a pair of linkages in parallel: a spherical joint at the intersection of ...

Abstract: For many single-loop closed-chain mechanisms, mobility may be characterized by the closure of sets in the theory of Lie groups. The four-revolute (4R) Bennett mechanism remains a persistent ...

Abstract: A new method for the estimation of forces applied to a structure is presented. This time domain technique uses the structures response time history and returns an estimate of the applied force ...