Related papers: The Design of Parallel Kinematic Machine Tools Usi…
The paper focuses on the stiffness modeling of parallel manipulators composed of non-perfect serial chains, whose geometrical parameters differ from the nominal ones. In these manipulators, there usually exist essential internal…
Kinematic structure of an exoskeleton is the most fundamental block of its design and is determinant of many functional capabilities of it. Although numerous upper limb rehabilitation devices have been designed in the recent years, there is…
The determination of the mobility of parallel mechanisms (PM) is a fundamental problem. An automatic and intelligent analysis platform will be a significant tool for the design and optimization of mechanical systems. Based on the theory of…
Kinesthetic garments provide physical feedback on body posture and motion through tailored distributions of reinforced material. Their ability to selectively stiffen a garment's response to specific motions makes them appealing for…
This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular…
Predicting the structural response of advanced multiphase alloys and understanding the underlying microscopic mechanisms that are responsible for it are two critically important roles modeling plays in alloy development. An alloys…
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the…
With Dynamic Resource Management (DRM) the resources assigned to a job can be changed dynamically during its execution. From the system's perspective, DRM opens a new level of flexibility in resource allocation and job scheduling and…
The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
This paper explores the production of a specified object using a combination of machining processes, including milling, shaping, and drilling, while emphasizing the critical role of fixture design in ensuring precision repeatability, and…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
This paper directs attention to conceptual modeling approaches that integrate advancements and innovations in requirements engineering. In some current (2024) works, it is claimed that present elicitation of requirements models focus on…
This paper deals with a predictive model of kinematical performance in 5-axis milling within the context of High Speed Machining. Indeed, 5-axis high speed milling makes it possible to improve quality and productivity thanks to the degrees…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
The outstanding mechanical properties of high-manganese steels (HMnS) are a result of their high strain-hardenability. That is facilitated by strong suppression of dynamic recovery, predominant planar glide, and the activation of additional…
Sampling-based motion planners (SBMPs) are effective for planning with complex kinodynamic constraints in high-dimensional spaces, but they still struggle to achieve real-time performance, which is mainly due to their serial computation…
The objective of this research is to develop an advanced controller for CNC machines equipped with Hexaglide parallel mechanisms. While traditional CNC machines employ mechanisms with perpendicular axes, accuracy may be compromised when…
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…
Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix…