Related papers: Parametric stiffness analysis of the Orthoglide
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Assembling stiffness matrices represents a significant cost in many finite element computations. We address the question of optimizing the evaluation of these matrices. By finding redundant computations, we are able to significantly reduce…
We introduce the parametric matroid one-interdiction problem. Given a matroid, each element of its ground set is associated with a weight that depends linearly on a real parameter from a given parameter interval. The goal is to find, for…
Knowledge of the mechanical properties of materials is required for the design and analysis of engineering products, however, the characterisation of heterogeneous properties using traditional techniques is limited by spatial resolution or…
This paper presents an optimised algorithm implementing the method of slices for analysing the stability of slopes. The algorithm adopts an improved physically based parameterisation of slip lines according to their geometrical…
The determination of the stiffness center of a machine tool is a major element for knowing the dynamic behavior of this one. This stiffness center can be obtained from a static characterization of the machine tool. For an operation of…
Orthogonal graph drawings are used in applications such as UML diagrams, VLSI layout, cable plans, and metro maps. We focus on drawing planar graphs and assume that we are given an \emph{orthogonal representation} that describes the desired…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Parametric analysis is a powerful tool for designing modern embedded systems, because it permits to explore the space of design parameters, and to check the robustness of the system with respect to variations of some uncontrollable…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
A spring in parallel with an effort source (e.g., electric motor or human muscle) can reduce its energy consumption and effort (i.e., torque or force) depending on the spring stiffness, spring preload, and actuation task. However, selecting…
Probabilistic Manifold Decomposition (PMD)\cite{doi:10.1137/25M1738863}, developed in our earlier work, provides a nonlinear model reduction by embedding high-dimensional dynamics onto low-dimensional probabilistic manifolds. The PMD has…
This paper concerns models and convergence principles for dealing with stochasticity in a wide range of algorithms arising in nonlinear analysis and optimization in Hilbert spaces. It proposes a flexible geometric framework within which…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
A special aspect of parameter identification in finite-strain elasto-plasticity is considered. Namely, we analyze the impact of the measurement errors on the resulting set of material parameters. In order to define the sensitivity of…
In contact-rich tasks, setting the stiffness of the control system is a critical factor in its performance. Although the setting range can be extended by making the stiffness matrix asymmetric, its stability has not been proven. This study…
Using a geometric formalism of elasticity theory we develop a systematic theoretical method for controlling and manipulating the mechanical response of slender solids to external loads. We formally express global mechanical properties…
Problems of flexible mechanical metamaterials, and highly deformable porous solids in general, are rich and complex due to nonlinear mechanics and nontrivial geometrical effects. While numeric approaches are successful, analytic tools and…
Woven shell structures are beneficial for applications requiring lightweight, damage resilience, and design tunability, such as in wearable devices, soft robotics, and aerospace systems. A fundamental component of woven structures is the…