This book is an introduction to the mathematical theory of design for articulated mechanical
systems known as linkages. The focus is on sizing mechanical constraints that guide the …

Exoskeletons can assist wearers to relearn natural movements when attached to the human
body. However, most current devices are bulky and heavy, which limit their application. In …

Rigid foldability is the property of an origami that folds continuously from an unfolded to a
folded state without deformation in its facets. Although extensively researched, there exist no …

Mechanisms are used in many devices to move a rigid body through a finite sequence of
prescribed locations. The most commonly used mechanisms are four-bar planar …

The algebraic polynomial input–output (IO) equations relating any two of the relative joint
displacement parameters, called vi and vj, between any of the six distinct pairs of rigid links …

As the coupler link of an RCCC linkage moves, its instant screw axis (ISA) sweeps a ruled
surface on the fixed link; by the same token, the ISA describes on the coupler link itself a …

A novel dimensional synthesis technique for solving the mixed exact and approximate
motion synthesis problem for planar RR kinematic chains is presented. The methodology …

This paper presents a novel methodology for detecting collisions of cylindrically shaped rigid
bodies moving in three dimensions. This algorithm uses line geometry and dual number …

This paper presents a new method to determine if two task positions used to design a four-
bar linkage lie on separate assembly modes (circuits) of a coupler curve, known as an …

The problem of path generation for the spherical 4R mechanism is solved using the
Differential Evolution (DE) algorithm. Formulas for the spherical geodesics are employed in …