Abstract Parallel Kinematic Machines (PKMs) are being widely used for precise applications
to achieve complex motions and variable poses for the end effector tool. PKMs are found in …

The paper presents a centro-based characterization of singularities in planar multi-DOF
mechanisms with arbitrary kinematic structure. A multi-DOF mechanism is treated as an …

This article deals with the kinematics of serial manipulators. The serial manipulators are
assumed to be rigid and are modeled using the well-known Denavit-Hartenberg parameters …

We discuss the determination of workspaces of discretely actuated manipulators using
convolution of real-valued functions on the Special Euclidean Group. Each workspace is …

For special purpose robotic arms, such as a rail mounted ballast-water tank inspection arm,
specific needs require special designs. Currently, there is no method to efficiently design …