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Bevel-gear-type robotic wrist mechanisms are commonly used in industry. The reasons for their popularity are that they are compact, light-weight, and relatively inexpensive. However, there are singularities in their ...

Objective: Robotic technology is being developed to increase productivity and alleviate wasted time. The trajectories of motion which these robots operate on are determined by matrix algorithms within the controller of the ...

An implementation of a distributed dynamical simulation is presented. Issues concerning real time simulation are discussed. Three dimensional, animated, object oriented graphics software is presented with problems and ...

In this paper, the principle of inertia match has been extended from one degree-of-freedom system to multi-degree-of-freedom systems. Based on the concept of maximum acceleration capacity, we have developed a methodology ...

In this paper, orientational workspace of three-degree-of- freedom, four-jointed spherical wrist mechanisms have been investigated. We have derived the workspace boundary equations via both geometric consideration and ...

This paper investigates the effect of tendon routing on kinematic and static force transmission associated with tendon-driven manipulators. The transmission characteristics can be described by the velocity and/or force ...

In this dissertation, we study the dynamics and control of coupled mechanical systems. A key feature of this work is the systematic use of modern geometric mechanics, including methods based on symplectic geometry, Lie ...