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In this paper, a new algorithm for the automatic enumeration of the topological structures of mechanisms is developed. The algorithm permits the deviation of conventional graphs from contracted graphs by the partition of ...

An improved model which accounts for backlash effects is proposed for the dynamics of spur gear systems. This dynamic model is mainly developed for the purpose of real time control. The complicated variation of the meshing ...

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 ...

Given desired joint torques in an n-DOF tendon-driven manipulator with n +1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse technique can be used to solve for ...

In this paper, the trajectory of spherical planetary gear trains has been studied. The parametric equations of trajectory are derived. We have shown that the trajectory generated by a tracer point on the planet of a spherical ...

This paper investigates some dynamic characteristics of tendon- driven manipulators. The dynamic equations including the effect of rotor inertia for a class of n x (n +1) tendon-driven manipulators are formulated. A control ...