In this paper, the FORWARD KINEMATIC of the special cases of 4- R" R' R' R" R", 4- R" R" R" R' R' and 4- R" R" R' R' R" parallel mechanisms that respectively lead to two 4- R R U R with different geometric structures and one 4- R U U spatial 4-DOF parallel robots has been studied. They are originated from the type synthesis of 4-DOF parallel mechanisms with motion patterns of 3 T1R. Each of them is composed of four KINEMATIC chains and each chain consists of five revolute joints. The directions of revolute joints have been different with each others that create three different geometrical structures. The FORWARD KINEMATIC PROBLEM is done in three dimensional Euclidean space and finally, a univariate mathematical expression of degree 344, 462 and 8 is indicated the FORWARD KINEMATIC PROBLEM of each parallel robot. Also, the results are compared with simulations.

This paper involves the investigation of the FORWARD KINEMATIC PROBLEM of three 4-DOF parallel robots, named as 4-PRUR1, 4-PRUR2, 4-PUU, performing 3 translations and one rotation, namely Schonflies motion. The foregoing parallel robots are special cases of 3 parallel robots, named as 4-PR′R′R″R″, 4-PR″R″R′R′ and 4-PR″R′R′R″, respectively, arisen from the type synthesis performed for 4-DOF parallel mechanisms with identical KINEMATIC limb structures. Each robot has 4 identical KINEMATIC chains and each chain consists of one prismatic active joint and 4 revolute passive joints. Due to different direction of revolute joints in each limb, 3 different architectures are considered in this paper. The FORWARD KINEMATIC PROBLEM is explored in seven-dimensional KINEMATIC space using the so-called Study’s parameters and LIA algorithm and eventually, it has been shown that an algebraic expression of degree 4 indicates the FORWARD KINEMATIC of each KINEMATIC chains of parallel robots under study in this paper. Moreover, using homotopy continuation and comparison with resultant method, it reveals that the FORWARD KINEMATIC PROBLEM of this robots have up to 236,236 and 2 real solutions, respectively.

The inverse KINEMATICs PROBLEM of a two degree of freedom (2DOF) planar robot arms is solved using Adomian’s decomposition method (ADM), after converting to a system of two nonlinear algebraic equations. The advantage of the method is that it gives the solutions as functions of the desired position of the end effecter and the length of the arms. The accuracy of the solutions can be increased up to desired order. The solutions haven’t any singularity. The PROBLEM must be solved once for any structure and the results can be used for any path and finally, the method is fast and simple to understand.

In this study, feedback linearization (FL) for 6R manipulator is designed, simulated and implemented. The presented input-output FL controller has achieved the desired performance for the complicated nonlinear terms in the arm‟s dynamic equations. Simulations were used to test the performance of the controller for point-to-point motion as well as continuous trajectory. The results of the point-to-point motion simulations and experiments were compared, where it indicates that the proposed approach preserved smooth motion in a very short process time with good accuracy. The dynamic load carrying capacity (DLCC), which is a criterion to determine FL controller performance on 6R robot, is also investigated, based on saturated torque of the motors and allowable error bounds. Moreover, it was shown that the control law is able to accurately represent closed-loop equations and simultaneously imposed desirable behavior on 6R robot.

In this paper, a new type of spherical has been fabricated by involute axes in the form of conical gears that can create an unlimited revolution for wrist without singularity. This wrist has the special ability due to its structure and mechanism to use robots for high precision applications and continuous movements without singularity. According to the drawings, the manufacturing of the model for molding and casting of pieces is carried out and then by machining, the dimensions of the parts are achieved to the standard of drawing. After the assembly, the mechanical work pieces are prepared. The direct and inverse KINEMATICs of the involute angles are obtained for the directions of the wrist. Also, according to the KINEMATICs of the robot, the position of the end-effector is calculated. At first, Matlab software is used to simulate the wrist model and also the experimental test is done for validation. At the end, the PD controller is designed to control the yaw, roll and pitch angles and the changes necessary to improve the wrist control have been applied in the controller and AVR-based microcontrollers. Finally, simulation results are verified through theoretical and experimental test.

The PROBLEM of personal identity among others may stem from the following question—what does be the person that you are, from one day to the next, necessarily consist of? The diachronic PROBLEM of personal identity raises question on the necessary and sufficient conditions for the identity of the person over time. The synchronic PROBLEM is grounded in the question of what features or traits characterize a given person at one time. To answer these questions, John Locke discarded the soul and the body as necessary and sufficient substances for personal identity over time. He accepted consciousness as the only criterion for personal identity; the only thing capable of remaining the same and preserving personal identity through change. Though Locke’s argument is somewhat clear and coherent but what remains vague and incoherent is embedded in the question—what exactly is consciousness? How and why should it be the basis or criterion for the determination of personal identity? Using the method of critical analysis, I argue that Locke’s choice of consciousness as the determinant of personal identity, though quite novel, is incoherent and vague. Secondly, Locke had already presumed and anticipated clearly though fallaciously the very thing he wishes to substantiate. I therefore conclude that Locke’s argument is just another way of trying to escape but inadvertently prolonging the difficulty of apparently articulating a distinction between the psychological approach and physiological approach to the PROBLEM of personal identity. However, in my submission, I propose the concept of the “other” as alternative approach— a sort of an extrinsic-intrinsic approach to the PROBLEM of personal identity.

This paper presents the KINEMATIC analysis and the development of a 4-degree-offreedom serial-parallel mechanism for large commercial vehicle driving simulators.The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several KINEMATIC properties of parallel part of the mechanism under study are investigated, including the inverse and the FORWARD KINEMATICs PROBLEMs, workspace determination, singularity, and KINEMATIC sensitivity analysis. The workspace of the parallel part of the mechanism is obtained by interval analysis. Moreover, using elimination theory, a univariate expression representing the FORWARD KINEMATICs solution of the parallel part is obtained.