The dimensional synthesis of wristed, multi-fingered hands for simultaneous tasks of all fingertips is an active field of research. When defining unconstrained positions for the fingers, this problem is solved by equating ...

Variable geometry trusses are composed, in general, of unit cells which can be modeled as bars connected by spherical joints. Under mild conditions, it has been shown that the only feasible cells are topologically equivalent ...

A tetrahedral strip is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. Unless any of the tetrahedra degenerate, such a truss is rigid. In this case, ...

The resection problem consists in finding the location of an observer by measuring the angles sub-tended by lines of sight from this observer to three known stations. Many researchers and practitioners recognize that ...

Distance constraints are an emerging formulation that offers intuitive geometrical interpretation of otherwise complex problems. The formulation can be applied in problems such as position and singularity analysis and path ...

Many skeletonisation algorithms for discrete volumes have been proposed. Despite its simplicity, the one given here still has many theoretically favorable properties. Actually, it provides a connected surface skeleton that ...

The conditions for a parallel manipulator to be flagged can be simply expressed in terms of linear dependencies between the coordinates of its leg attachments, both on the base and on the platform. These dependencies permit ...

This paper shows how to generate under-actuated manipulators by substituting nonholonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in ordinary (i.e. not under-actuated) manipulators. As a case ...

Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind ...

An analysis of the existing hand-eye calibration methods reveals that most of them are far from trivial. And, what is worse, their intrinsic complexity makes it difficult to elucidate under which circumstances they fail ...