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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 ...

In this paper, we propose a model for dynamic magnetostrictive hysteresisin a thin rod actuator. We derive two equations that representmagnetic and mechanical dynamic equilibrium. Our model results from an application of ...

There is a growing realization among educators andemployers that students of automatic control should be encouraged tothink of the subject in broader terms. The systems approach shouldembrace communication requirements, ...

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 ...

A novel hybrid rotary motor incorporating piezoelectric and magnetostrictive actuators has been designed and demonstrated. The novelty of this motor was the creation of an electrical resonant circuit, whereby reactive power ...

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 ...

In this paper, a systematic methodology for enumeration of the kinematicstructures of parallel manipulators is presented. Parallel manipulators areclassified into planar, spherical, and spatial mechanisms. The classificationis ...

In this dissertation, a novel parallel manipulator is investigated. The manipulator has three degrees of freedom and the moving platform is constrained to only translational motion. The main advantages of this parallel ...

In this dissertation we study the control of nonholonomic systems defined by invariant vector fields on matrix Lie groups. We make use of canonical constructions of coordinates and other mathematical tools provided by the ...

This cartographer is designed for a two dimensional system, where sensors on the robot return the distance and angle of a detected object and where the position and orientation of the robot is known in some global frame. ...