Luciano Tomassi
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View article: Algorithm to Find and Analyze All Configurations of Four-Bar Linkages with Different Geometric Loci Degenerate Forms
Algorithm to Find and Analyze All Configurations of Four-Bar Linkages with Different Geometric Loci Degenerate Forms Open
A general algorithm to determine the coupler link geometric loci, such as centrodes, inflection and return circles, as well as circling-point and centering-point curves, is formulated to analyze any type of four-bar linkages with the main …
View article: Cobot Kinematic Model for Industrial Applications
Cobot Kinematic Model for Industrial Applications Open
In this paper, a specific parametric and open-source algorithm for the direct and inverse kinematics of the UR5e Cobot is formulated by using the (n, o, a, p) transformation matrix, along with the inverse matrices, and then implemented in …
View article: First- and Second-Order Centrodes of Both Coupler Links of Stephenson III Six-Bar Mechanisms
First- and Second-Order Centrodes of Both Coupler Links of Stephenson III Six-Bar Mechanisms Open
The subject of this paper is the formulation of a general algorithm that is aimed to obtain and analyze the first- and second-order centrodes of both coupler links of Stephenson III six-bar mechanisms, along with the corresponding pairs of…
View article: Eight-Bar Elbow Joint Exoskeleton Mechanism
Eight-Bar Elbow Joint Exoskeleton Mechanism Open
This paper deals with the design and kinematic analysis of a novel mechanism for the elbow joint of an upper-limb exoskeleton, with the aim of helping operators, in terms of effort and physical resistance, in carrying out heavy operations.…
View article: Cobot Kinematic Model for Industrial Applications
Cobot Kinematic Model for Industrial Applications Open
This paper deals with the formulation of a Cobot kinematic model by developing both the direct and inverse kinematics and choosing the noa transformation matrix for defining the end-effector position and orientation with respect to the bas…
View article: Eight-Bar Elbow Joint Exoskeleton Mechanism
Eight-Bar Elbow Joint Exoskeleton Mechanism Open
This paper deals with the design and kinematic analysis of a novel mechanism for the elbow joint of an upper-limb exoskeleton, with the aim of helping operators, in terms of effort and physical resistance, in carrying out heavy operations.…