Related papers: L'orthoglide : une machine-outil rapide d'architec…
The paper deals with the developing of the methodological backgrounds for the modeling and simulation of complex dynamical objects. Such backgrounds allow us to perform coordinate transformation and formulate the algorithm of its usage for…
This paper details an accessible geometric derivation of the forward and inverse kinematics of a parallel robotic linkage known as the Canfield joint, which can be used for pointing applications. The original purpose of the Canfield joint…
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…
A key challenge for LiDAR-based 3D object detection is to capture sufficient features from large scale 3D scenes especially for distant or/and occluded objects. Albeit recent efforts made by Transformers with the long sequence modeling…
This paper considers the shape formation problem within the 3D hybrid model, where a single agent with a strictly limited viewing range and the computational capacity of a deterministic finite automaton manipulates passive tiles through…
Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…
The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of immersed piping. The kinematic analysis of…
Transformers have revolutionized deep learning and generative modeling to enable unprecedented advancements in natural language processing tasks and beyond. However, designing hardware accelerators for executing transformer models is…
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. However, the elementary robotic configuration and geometric…
The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling…
Because most optimisations to achieve higher computational performance eventually are limited, parallelism that scales is required. Parallelised hardware alone is not sufficient, but software that matches the architecture is required to…
Designing the topology of three-dimensional structures is a challenging problem due to its memory and time consumption. In this paper, we present a robust and efficient algorithm for solving large-scale 3D topology optimization problems.…
A homotopy method for multi-objective optimization that produces uniformly sampled Pareto fronts by construction is presented. While the algorithm is general, of particular interest is application to simulation-based engineering…
This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric…
The current paper summarizes studies undertaken on the corrugated cardboard. In these studies, a new approach considering the corrugated cardboard as an orthotropic material is developed. This approach permits after homogenization to…
The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like robot to imitate the eel swimming. To…
The optimal transport problem has many applications in machine learning, physics, biology, economics, etc. Although its goal is very clear and mathematically well-defined, finding its optimal solution can be challenging for large datasets…
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,…
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…
This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two manipulators: i) the Orthoglide 3-axis; a…