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The Jacobian and stiffness matrices of two types of novel, six- DOF parallel minimanipulators are derived. A minimanipulator consists of three inextensible limbs, each of which is driven by a two-DOF driver. Bilinear stepper ...

This paper presents a methodology for kinematic synthesis of tendon-driven manipulators with isotropic transmission characteristics. The force transmission characteristics, from the end-effector space to the actuator space, ...

The National Aeronautics and Space Administration has been funding university research into flexible, six-legged walking machines capable of exploring alien terrain. This research has led to a progressive new look at ...

An interactive design system has been developed for the design of automatic automotive transmission gear trains that can provide at least three forward and one reverse speed ratios. This user- friendly windowing system can ...

Closed-form direct kinematics solution of a new three-limbed six- degree-of-freedom minimanipulator is presented. Five-bar linkages and inextensible limbs are used in synthesis of the minimanipulator to improve its positional ...

The Jacobian and stiffness matrices of a novel, six-DOF parallel minimanipulator are derived. The minimanipulator consists of three inextensible limbs, each of which is driven by a five-bar linkage to improve its positional ...

Workspace and singularity analysis of a novel three-limbed, six degree-of-freedom (DOF) minimanipulator is presented. The minimanipulator limbs are inextensible and its actuators are base-mounted. The lower ends of the ...