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1  Abstract—This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower-mobility parallel manipulators and parallel manipulators, of which some legs do not have any spherical joint, are such manipulators. The geometric(More)
OBJECTIVE The goal of this study was to provide a better understanding of driver behavior in fog. BACKGROUND Impaired perception of changes in headway is hypothesized to be one of the reasons for shorter following distances in foggy conditions as compared with clear weather. METHOD In the experiments described here, we measured response time for(More)
This paper addresses the dimensional synthesis of parallel kinematics machines. A multiobjective optimization problem is proposed in order to determine optimum structural and geometric parameters of parallel manipulators. The proposed approach is applied to the optimum design of a three-degree-of-freedom planar parallel manipulator in order to minimize the(More)
The paper presents a novel technique for the design of optimal calibration experiments for a planar anthropomorphic manipulator with n degrees of freedom. Proposed approach for selection of manipulator configurations allows essentially improving calibration accuracy and reducing parameter identification errors. The results are illustrated by application(More)
In this paper, a novel parallel robot is introduced. The robot, a Schönflies-Motion Generator (SMG), is capable of a special class of motions, namely, those produced with serial robots termed SCARA, an acronym for Selective-Compliance Assembly Robot Arm. These motions involve three independent translations and one rotation about an axis of fixed direction.(More)
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional and angular variations. First, a linkage kinematic analysis method is used to have a rough idea of the influence of the dimensional variations on the location of(More)