Parallel overconstrained spatial linkages

The multiple designs obtained from the synthesis of serial chains can be assembled together to create parallel systems. Some of them are movable due to their special geometry. In particular, we have studied the Bennett linkage and movable structures that can be created from it.
Construct and visualize a Bennett's linkage.

See a Bennett's net

Kinematic identification of structures from visual data

We apply the dual quaternion synthesis theory to identify the kinematic structure underlying moving images. Graphic data from human subjects can be used to identify the kinematic skeleton. This may be used to create a 3d movable avatar representing the subject. Our results with synthetic data seem promising.

Dual quaternion synthesis of constrained serial robots

The following Mathematica notebooks can be adapted to design any serial robot with less than six degrees of freedom. These are the results of the research developed in my dissertation. I include here several examples.
Spatial RR Robot,
Spatial RPP Robot,
Spatial RRP Robot,
Spatial RRRR Robot