Related papers: The Orthoglide: Kinematics and Workspace Analysis
Not all the human body parts have the same~degree of freedom~(DOF) due to the physiological structure. For example, the limbs may move more flexibly and freely than the torso does. Most of the existing 3D pose estimation methods, despite…
The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is…
A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The…
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space…
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…
Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
An orthogonality space is a set equipped with a symmetric, irreflexive relation called orthogonality. Every orthogonality space has an associated complete ortholattice, called the logic of the orthogonality space. To every poset, we…
The purpose of this publication is to derive and discuss equations of motion of affinely rigid (homogeneously deformable) body moving in Euclidean space of general dimension $n$. Our aim is to present some analytical methods and to discuss…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
An orthoset (also called an orthogonality space) is a set $X$ equipped with a symmetric and irreflexive binary relation $\perp$, called the orthogonality relation. In quantum physics, orthosets play a central role. In fact, a Hilbert space…
Screw theory provides geometrical insight into the mechanics of rigid bodies. Screw axis is defined as the line coinciding with the joint axis. Line transformations in the form of a screw operator are used to determine the joint axes of a…
Obstacle crossing is an essential component of human locomotion, particularly for individuals with lower limb amputations who face elevated risks of imbalance and falls. While prior studies have explored this task, they often lack a…
Physical and chemical properties of 2D material are highly sensitive to its structures whose regularity are seldom investigated, here we proposed a simple mechanical model whose covalent bonds are connected by angle springs, with which we…
The internal space for a molecule, atom, or other n-body system can be conveniently parameterised by 3n-9 kinematic angles and three kinematic invariants. For a fixed set of kinematic invariants, the kinematic angles parameterise a…
The aim of this short note is to give a synthetic presentation of the mathematical elements that are used to solve the elastic wave system of equations in a bounded anisotropic elastic body, in a general framework. In particular, the proof…
We construct a highly-symmetric periodic orbit of six bodies in three dimensions. In this orbit, binary collisions occur at the origin in a regular periodic fashion, rotating between pairs of bodies located on the coordinate axes.…
In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smart warehouses, factories or hospitals. In these…
We present an analytical solution for the inverse kinematics (IK) of a robotic arm with one prismatic joint and four revolute joints. This 5-DoF design is a result of minimizing weight while preserving functionality of the device in a…