Gardner, JF, Srinivasan, K & Waldron, K 1990, 'A Solution For The Force Distribution Problem In Redundantly Actuated Closed Kinematic Chains', Journal Of Dynamic Systems Measurement And Control-transactions Of The ASME, vol. 112, no. 3, pp. 523-526.
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Gardner, JF, Srinivasan, K & Waldron, K 1990, 'Closed-loop Trajectory Control Of Walking Machines', Robotica, vol. 8, pp. 13-22.
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Huang, M & Waldron, K 1990, 'Relationship Between Payload And Speed In Legged Locomotion Systems', IEEE Transactions On Robotics And Automation, vol. 6, no. 5, pp. 570-577.
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Kumar, V & Waldron, K 1990, 'Force Distribution In Walking Vehicles', Journal Of Mechanical Design, vol. 112, no. 1, pp. 90-99.
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Nanua, P, Waldron, K & Murthy, V 1990, 'Direct Kinematic Solution Of A Stewart Platform', IEEE Transactions On Robotics And Automation, vol. 6, no. 4, pp. 438-444.
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Pugh, D, Ribble, E, Vohnout, V, Bihari, T, Walliser, T, Patterson, M & Waldron, K 1990, 'Technical Description Of The Adaptive Suspension Vehicle', International Journal Of Robotics Research, vol. 9, no. 2, pp. 24-42.
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Murthy, V & Waldron, KJ 1990, 'Parallel dual of the Stanford arm', American Society of Mechanical Engineers, Design Engineering Division (Publication) DE, pp. 141-145.
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The Stanford arm is a robot of well known geometry which is characterized by having eight solutions to the inverse position kinematics problem. Its dual, under the velocity motor/wrench symmetry, is here shown to also have eight solutions to its direct position kinematics problem. Under the duality, the direct kinematics problem of a parallel mechanism corresponds to the inverse kinematics problem of a serial mechanism. Although there is no general proof that the number of solutions in the position kinematics problems of such dual pairs is the same, the example presented here, together with solutions to the corresponding problems of several other dual pairs some which were presented earlier forms a context within which the general relationship at the position level between pairs of mechanisms which are dual to each other can be addressed. The Stanford arm and its parallel dual forms the first such pair containing a prismatic joint in the serial chain to be studied.
Murthy, V & Waldron, KJ 1990, 'Position kinematics of the generalized lobster arm and its series-parallel dual', American Society of Mechanical Engineers, Design Engineering Division (Publication) DE, pp. 253-261.
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The generalized lobster arm is a six revolute open kinematic chain with 3 consecutive intersecting pairs of axes. A new solution of the inverse position kinematics problem of this arm which takes advantage of its specific geometry is presented. A comparison is made with the direct position kinematics problem of the series-parallel dual mechanism. The equations governing the two problems show strong similarity and can each be reduced to a sixteenth degree univariate polynomial equation. The dual series-parallel mechanism is the one that exhibits, with the Lobster arm, the symmetry that exists between the wrench and the velocity motor. Although the results presented here have intrinsic interest, a more generally important feature is the relationship between the solutions to the inverse kinematics of the serial mechanism and the direct kinematics of the parallel mechanism. Although the series-parallel duality has not been shown to hold in the position domain, except in terms of very general characteristics, it is shown here that the two solutions are of the same degree and have other features in common.
Waldron, KJ 1990, 'Solution rectification in three position motion generation synthesis', American Society of Mechanical Engineers, Design Engineering Division (Publication) DE, pp. 301-306.
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In this paper the theory of solution rectification in motion generation synthesis of four-bar linkages is strengthened by presenting the mapping of the three-circle diagram into the center-point plane. This mapping may be used in conjunction with the corresponding mapping of the Filemon construction to eliminate solutions which must change branch to move through all of the design positions when cranks are generated by selecting their center-points. Earlier versions of the theory required that cranks be generated by selection of their circle-points.