Related papers: A New Three-DOF Parallel Mechanism: Milling Machin…
This paper presents a novel passive three-output differential with three degrees of freedom (3DOF), that translates motion and torque from a single input to three outputs. The proposed Three-Output Open Differential is designed such that…
With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…
This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…
This paper addresses the problem of parallelizing computations to study non-linear dynamics in large networks of non-locally coupled oscillators using heterogeneous computing resources. The proposed approach can be applied to a variety of…
We investigate the motions of a bar structure consisting of two congruent tetrahedra, whose edges in their basic position form the face diagonals of a rectangular parallelepiped. The constraint of the motion is that the originally…
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its…
Large intelligent surface (LIS) has gained momentum as a potential 6G-enabling technology that expands the benefits of massive multiple-input multiple-output (MIMO). On the other hand, orthogonal space-division multiplexing (OSDM) may give…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
Multigrid methods have been a popular approach for solving linear systems arising from the discretization of partial differential equations (PDEs) for several decades. They are particularly effective for accelerating convergence rates with…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools.…
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic…
Gradient descent, and coordinate descent in particular, are core tools in machine learning and elsewhere. Large problem instances are common. To help solve them, two orthogonal approaches are known: acceleration and parallelism. In this…
The impressive progress of the kinetic schemes in the solution of gas dynamics problems and the development of effective parallel algorithms for modern high performance parallel computing systems led to the development of advanced methods…
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…
Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on…
Orthogonal array, a classical and effective tool for collecting data, has been flourished with its applications in modern computer experiments and engineering statistics. Driven by the wide use of computer experiments with both qualitative…