Recent Submissions

  • Dimensional Synthesis of Bennett Linkages 

    Pérez Gracia, Alba; McCarthy, John Michael (2000)
    Conference report
    Restricted access - publisher's policy
    This paper presents a synthesis procedure for a spatial 4R linkage, known as Bennett’s linkage. It is known that the two solutions of the RR chain synthesis equations form a Bennett linkage. While analytical solutions to ...
  • Dual Quaternion Synthesis of Constrained Robots 

    Pérez Gracia, Alba; McCarthy, John Michael; Bennet, Bruce (Springer, 2002)
    Conference report
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    This paper presents a synthesis methodology for robots that have less than six degrees of freedom, termed constrained robots. The goal is to determine the physical parameters of the chain that fit its workspace to a given ...
  • Dual Quaternion Synthesis of a Parallel 2-TPR Robot 

    Pérez Gracia, Alba; McCarthy, John Michael (2002)
    Conference report
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    This paper presents the dual quaternion synthesis methodology for constrained parallel robots. This methodology uses the dual quaternion form of the kinematics of supporting serial chains as design equations. Given a set ...
  • Dimensional Synthesis of RPC Serial Robots 

    Pérez Gracia, Alba; McCarthy, John Michael (2003)
    Conference report
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    This paper presents a synthesis methodology for the RPC serial robot. This robot has a four dimensional configuration space that can be generated by specifying a finite set of goal positions. The methodology uses the ...
  • Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials 

    Pérez Gracia, Alba; McCarthy, John Michael (2005)
    Conference report
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    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 ...
  • Dimensional Synthesis of CRR Serial Chains 

    Pérez Gracia, Alba; McCarthy, John Michael (American Society of Mechanical Engineers (ASME), 2003)
    Conference report
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    This paper presents the kinematic synthesis of a CRR serial chain. This is a four-degree-of-freedom chain constructed from a cylindric joint and two revolute joints in series. The design equations for this chain are obtained ...
  • Geometric Design Of Symmetric 3-RRS Constrained Parallel Platforms 

    Wolbrecht, Eric; Su, Hai Jun; Pérez Gracia, Alba; McCarthy, John Michael (American Society of Mechanical Engineers (ASME), 2004)
    Conference report
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    The paper presents the kinematic synthesis of a symmetric parallel platform supported by three RRS serial chains. The dimensional synthesis of this three degree-of-freedom system is obtained using design equations for each ...
  • Solvable Multi-Fingered Hands for Exact Kinematic Synthesis 

    Makhal, Abhijit; Pérez Gracia, Alba (Springer, 2014)
    Conference report
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    Multi-fingered hands are kinematic chains with a tree topology, that is, with a set of common joints that span several branches and end-effectors. When performing dimensional kinematic synthesis with simultaneous tasks for ...
  • Design of a Prosthetic Hand with Remote Actuation 

    Scott, K.; Pérez Gracia, Alba (Institute of Electrical and Electronics Engineers (IEEE), 2013)
    Conference report
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    One of the main issues of prosthetic hands is to be able to fulfill all the specifications about speed, torque, weight and inertia while placing all the components within the prosthetic hand. This is especially true when ...
  • Design of an Exoskeleton as a Finger-Joint Angular Sensor 

    Pérez Gracia, Alba; Yihun, Yimesker; Rahman, M.S. (2012)
    Conference report
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    Estimation of joint angles for human joints is important for many applications in bioengineering. Most of the existing angular joint sensors rely on the approximate assumption of the knowledge of the type of motion and ...
  • Link-based performance optimization of spatial mechanisms 

    Yihun, Yimesker; Bosworth, Kenneth; Pérez Gracia, Alba (American Society of Mechanical Engineers (ASME), 2013)
    Conference report
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    In the design of spatial linkages, the finite-position kinematics is fully specified by the position of the joints in space. However, most of the tasks have additional requirements regarding motion smoothness, obstacle ...
  • Exact Workspace Synthesis for RCCR Linkages 

    Batbold, Batchimeg; Yihun, Yimesker; Wolper, James S.; Pérez Gracia, Alba (Springer, 2013)
    Conference report
    Restricted access - publisher's policy
    A tool for the exact kinematic synthesis of a given workspace may be of interest when designing closed linkages. In these cases, finite-position synthesis cannot ensure smoothness of motion between task positions. In order ...

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