Intro
Preface
Contents
About the Editors
Synthesis of Mechanisms
Studies on Coupler Curves of a 4-Bar Mechanism with One Rolling Pair Adjacent to the Ground
1 Introduction
2 Kinematic analysis
2.1 Kinematics of the Rolling Pair
2.2 Position Analysis of the Mechanism
3 Study of Geometry of the Coupler Curves
3.1 Components or Circuits of Coupler Curves
3.2 Crunodes in Coupler Curves
3.3 Cusps in Coupler Curves
4 Conclusion
References
Kinematic Synthesis and Design of a Five Fingered Hand Exoskeleton
1 Introduction

2 Kinematic Synthesis and Design
2.1 Analyzing Functional Requirement
2.2 Kinematic Structure
2.3 Kinematic Synthesis
2.4 Trajectory Comparison
3 Pose Analysis of Mechanism
3.1 Static Analysis
3.2 Optimization of Link Lengths
3.3 Workspace Evaluation
4 Conclusion
References
Structural Enumeration of Cam-Modulated Linkages
1 Introduction
2 Cam-Modulated Linkages-Systematics
3 Literature Review
4 Synthesis Methodology
4.1 Varieties of Conversions
4.2 Non-viable CMLs
4.3 Isomorphism Problem in CML
5 Results of Synthesis
6 Conclusions

5.1 Effect of Link Tolerance on Five-Bar Mechanism
5.2 Error Compensation
6 Conclusions
References
Parametric Sensitivity Analysis of Structure Stability: Mathematical Formulation and Analysis
1 Introduction
2 Stability Analysis
3 Result and Discussion
3.1 Varying Thickness
3.2 Varying Length
4 Conclusion
References
A Review on Frequency Domain Analysis Approach for Parametric Identification of Nonlinear Joints
1 Introduction
2 Research Methodology
3 Dynamic Analysis of Nonlinear Structures
3.1 Frequency Domain Analysis
4 Result and Analysis

5 Conclusions and Future Directions for Work
References
A New Method for Solving Simultaneous Impact Problems in Constrained Multibody Systems
1 Introduction
2 Impulse-Momentum Relations in Constrained Multibody Systems
2.1 Response to External Impulse
2.2 Change in Velocity of Collision Point
3 The Simultaneous Impact Model
4 Results and Discussion
4.1 2-Link Manipulator Hitting a 4-Bar Linkage
4.2 2-Link Manipulator Hitting a Slider-Crank Mechanism
4.3 Simultaneous Impact of 2 Unconstrained Rigid Bodies on a 2-Link Manipulator
5 Conclusions
References