Related papers: The Computation of All 4R Serial Spherical Wrists …
A spherical wrist of the serial type with n revolute (R) joints is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all equal to sqrt(n/3). What isotropy brings about is robustness to…
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…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free trajectories, as well as a good manipulability in…
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and…
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first…
This paper introduces ByteWrist, a novel highly-flexible and anthropomorphic parallel wrist for robotic manipulation. ByteWrist addresses the critical limitations of existing serial and parallel wrists in narrow-space operations through a…
The ABB YuMi is a 7-DOF collaborative robot arm with a complex, redundant kinematic structure. Path planning for the YuMi is challenging, especially with joint limits considered. The redundant degree of freedom is parameterized by the…
This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in which all pairs of adjacent joint axes are…
Adding linear combinations $R^2,R_{\mu\nu}R^{\mu\nu}$ and $R_{\mu\nu\eta\delta}R^{\mu\nu\eta\delta}$ with Einstein-Hilbert action we obtain interior metric of an an-isotropic spherically symmetric collapsing (ASSC) stellar cloud. We assume…
In this paper we study rational real algebraic knots in $\R P^3$. We show that two real algebraic knots of degree $\leq5$ are rigidly isotopic if and only if their degrees and encomplexed writhes are equal. We also show that any irreducible…
We address the problem, not of the determination -- which usually needs numerical methods -- but of an accurate analytical estimation of the distance of a raw elasticity tensor to cubic symmetry and to orthotropy. We point out that there…
In this paper, we investigate a potential security vulnerability associated with wrist wearable devices. Hardware components on common wearable devices include an accelerometer and gyroscope, among other sensors. We demonstrate that an…
We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contribution is an analytical workspace formulation that provides…
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…
This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…
In [1], finite associative rings wih identity and such that the set of all zero-divisors form and ideal M, called the Jacobson Radical, of cube zero and square non-zero, were constructed for all the characteristics. These rings are…
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
We study the Einstein equations of the static spherically symmetric anisotropic fluid system in curvature coordinates to find algorithms that generate all solutions and all solutions that are regular at the center. All possible combinations…