Mathematical Foundations for a Design Methodology Based on  Kinematic Mappings
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Elbert L. Marsh', 'PO_EMAI': None, 'PO_PHON': None}
This is a theoretical project to obtain a new design methodology for            mechanism design.  The method is based on the technique of kinematic            mappings.  It can be shown that a kinematic mapping converts the set of         possible positions of a mechanism to an image curve, surface, or solid          in a space whose dimensions depend on the number of degrees of freedom          of the system.  By determining the differential properties of the               image,  this information can be used to design spatial mechanisms and           manipulators in a more efficient manner than is currently used.  This           project develops those differential properties and thus establishes the         mathematical foundations for a design methodology based on kinematic            mappings.
{'FirstName': 'John', 'LastName': 'McCarthy', 'PI_MID_INIT': 'M', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'John M McCarthy', 'EmailAddress': 'jmmccart@uci.edu', 'NSF_ID': '000465171', 'StartDate': '06/01/1986', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'University of Pennsylvania', 'CityName': 'PHILADELPHIA', 'ZipCode': '191046205', 'PhoneNumber': '2158987293', 'StreetAddress': '3451 WALNUT ST STE 440A', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Pennsylvania', 'StateCode': 'PA', 'CONGRESSDISTRICT': '03', 'CONGRESS_DISTRICT_ORG': 'PA03', 'ORG_UEI_NUM': 'GM1XX56LEP58', 'ORG_LGL_BUS_NAME': 'TRUSTEES OF THE UNIVERSITY OF PENNSYLVANIA, THE', 'ORG_PRNT_UEI_NUM': 'GM1XX56LEP58'}
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