Quaternions are a type of hypercomplex numbers. Unit quaternions, which describe rotations, were called versors by Hamilton. The concept of versor can be generalized as the product of invertible vectors in the Clifford ...

This paper explores the design of RRSS mechanisms with specified singular positions. The ultimate goal is to find an SS chain to couple a previously synthesized RR chain and to force the mechanism to become singular at ...

In this paper we formulate the “generalized inverse kinematics problem” for a spatial serial chain, where the goal is to determine values for structural parameters as well as for the joint parameters. The kinematics equations ...

In the kinematic synthesis of multi-fingered robotic hands for a specific task, the selection of the hand topology is an important step. Considerable research efforts have been directed to the structural synthesis of hand ...

Mixed-position synthesis of linkages has been used to define local contact conditions and for better adjusting a mechanism to its desired trajectory. In this work, multiple velocities are defined at a configuration in order ...

The dimensional synthesis of spatial chains for a prescribed set of positions can be used for the design of parallel robots by joining the solutions of each serial chain at the end effector. In some cases, this may yield ...

The design of robotic systems for human-hand tasks could benefit for a more intuitive environment for task definition and prototype testing. Virtual reality with human-limb motion identification and visualization seems to ...