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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 ...

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. ...

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 ...

In this paper, a systematic procedure is developed for the identification of fundamental circuits and transfer vertices in epicyclic gear trains. The method utilizes the well-established concepts of graph theory and related ...

This paper deals with the synthesis of mechanical transmission structures for tendon-driven manipulators. Based on static force analysis, necessary conditions are developed for the synthesis of tendon-driven manipulators ...

A parallel-hybrid electric vehicle usually employs two power sources, an engine and an electric motor/generator, to drive a vehicle. Typically, the electric motor receives power stored in batteries to drive the vehicle at ...

This paper presents an overview of the current state-of-the-art in the design of tendon-driven manipulators. A special characteristic associated with tendon-driven manipulators is that tendons can exert only tension, not ...