... and flexible actuated joints. The different polynomial laws have been obtained and validated for each examined case. The present study considers the conditions for passing through Type 2 singular configurations for the parallel manipulators with flexible links. By computing the inverse dynamic model...

...Nicolás Rojas; Federico Thomas The exact position analysis of a planar mechanism reduces to compute the roots of its characteristic polynomial. Obtaining this polynomial almost invariably involves, as a first step, obtaining a system of equations derived from the independent kinematic loops...

...J. Michael McCarthy Lee , E. , and Mavroidis , C. , 2002 , “ Solving the Geometric Design Problem of Spatial 3R Robot Manipulators Using Polynomial Homotopy Continuation ,” ASME J. Mech. Des. 0161-8458 , 124 ( 4 ), pp. 652 – 661 . 10.1115/1.1515796 Verschelde , J...

...J. Michael McCarthy 06 11 2010 10 11 2010 10 01 2011 10 01 2011 polynomials robot kinematics As we move into the adolescent years of the 21st century, allow me to discuss where research in mechanisms and robotics has been as a prelude to considering where...

...Xianwen Kong; Clément Gosselin; James M. Ritchie A quadratic parallel manipulator refers to a parallel manipulator with a quadratic characteristic polynomial. This paper revisits the forward displacement analysis (FDA) of a linearly actuated quadratic spherical parallel manipulator. An alternative...

... architecture, with double basally actuated legs so as to minimize moving mass, the univariate polynomial solution turns out to be simplest, i.e., of degree 2. Figure 1 shows the Π or parallelogram joint, a feature common to many Schönflies manipulators because it provides a 1DOF circular...