The motions of mechanisms can be described in terms of screw coordinates by means of an
exponential mapping. The product of exponentials (POE) describes the configuration of a …

This paper is focused on higher-order planar kinematics and deals with the kinematic
properties of the n th-order poles and Bresse circles intersections for a crank-driven rigid …

An approach to the dynamic analysis of parallel manipulators is presented. The proposed
method, based on the theory of screws and on the principle of virtual work, allows a …

In this paper, a computing method for the higher-order acceleration vector field properties in
general rigid body motion and multibody system is proposed using algebraic properties of …

In this contribution the kinematic and dynamic analyses, up to the determination of the
driving forces, of a specific class of series–parallel manipulators, known as 2 (3-RPS) …

A thorough analysis of mechanisms requires higher derivatives of the kinematic relations
between its members. Such a relation is the (forward) kinematic mapping of a kinematic …

Kinematic singularities are configurations where the configuration space (c-space) V is not
smooth or configurations where the rank of the constraint Jacobian drops while the c-space …

The mobility of a linkage is determined by the constraints imposed on its members. The
geometric constraints define the configuration space (c-space) variety as the geometric …

In this contribution, a systematic methodology for solving the kinematic and dynamic
analyses of a modular spatial hyper-redundant manipulator built with an optional number of …

This work describes a novel robot manipulator with configurable platform. Three internal
degrees-of-freedom are added for controlling the relative orientation of the terminal links …