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The dimensionally-uniform Jacobian matrix of a novel three- limbed, six degree-of-freedom (DOF) minimanipulator is used to derive its dimensionally-uniform stiffness matrix.<P>The minimanipulator limbs are inextensible and ...

A new methodology for the speed ratio analysis of epicyclic-type transmission mechanisms is presented. First, the kinematic characteristics associated with various operation modes of fundamental geared entities are ...

The enumeration of epicyclic gear mechanisms in the form of graphs gives rise to the need of a methodology for reverse transformation, that is, for constructing the mechanisms from graphs. This paper addresses the issue ...

The study of human locomotion has gained more attention recently with the availability of better analytic and computational tools with which to examine it. A subject under much study within the field today is the effort ...

The transfer of electricity across a continuously rotating joint is especially important in robot joints and brush-type motors. In this paper, the shortfalls of present technologies, such as electric brushes, are discussed. ...

The method of classification of mechanisms according to kinematic structure and function is used to systematically enumerate gearless differential mechanisms. The method adopted here is to first enumerate 1:-1 constant-velocity ...

Design and optimization of planar leg mechanisms featuring symmetrical foot-point paths are presented in this study. These leg mechanisms are designed in such a way that a corresponding walking machine has the flexibility ...

This paper presents a systematic methodology for the enumeration of clutching sequences associated with epiclyclic-gear-type automatic transmission mechanisms. The methodology is based on the concept that an epicyclic gear ...

A novel 2 DOF parallel manipulator is presented that employs only resolute joints and constrains the manipulator output to translational motion. Closed-form solutions are developed for both the inverse kinematics produces ...

An automotive transmission maintains a proper equilibrium between the power and torque produced by the engine and those demanded by the drive wheels. Most automatic transmissions employ some kind of epicyclic gear mechanisms ...