... manipulators are developed in the form of multiply moving platforms and subchains based on displacement group theory and mathematical logic. Kinematic modeling of the most feasible kinematotropic hybrid parallel manipulator is performed by obtaining its kinematic forward and inverse solutions and velocities...

...Walter W. Nederbragt; Bahram Ravani This paper uses group theory for enumeration of contacts between geometric elements necessary for kinematic registration or part referencing in robotics. The results are applied to type synthesis of tactile sensing mechanical fixtures. Kinematic registration...

...Jose´ Marı´a Rico Martı´nez; Bahram Ravani This paper presents a generalization of Kutzbach-Gru¨bler criterion for mobility analysis of kinematic chains based on group theory. This new mobility criterion applies to exceptional linkages and reduces to a group theoretic representation of Kutzbach-Gru...