Related papers: Parametric Stiffness Analysis of the Orthoglide
The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-o-Cam was reported elsewhere.…
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…
The paper gathers and unifies mechanical stability conditions for all symmetry classes of 3D and 2D materials under arbitrary load. The methodology is based on the spectral decomposition of the fourth-order stiffness tensors mapped to…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Merging finetuned Large Language Models (LLMs) has become increasingly important for integrating diverse capabilities into a single unified model. However, prevailing model merging methods rely on linear arithmetic in Euclidean space, which…
This study investigates a detailed analytical and numerical investigation of a nonlinear two-degree-of-freedom (2DOF) mechanical oscillator subjected to parametric excitation, magnetic stiffness nonlinearities, and dry friction. The…
Digital stiffness programmability is fulfilled with a heterogeneous mechanical metamaterial. The prototype consists of an elastomer matrix containing tessellations of diamond shaped cavities selectively confined with semi-rigid plastic beam…
This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of…
This paper develops a systematic parametric method for analyzing stochastic systems under volatility uncertainty within the $G$-expectation framework. Leveraging the dual representation of the $G$-expectation as a supremum over a family of…
Using dynamic paraboloid model of Earth's magnetosphere, a large set of particles' trajectory computations was performed. Based on its result, the numerical algorithm for calculating effective cutoff rigidity dependence on empiric…
For safety and robustness of AI systems, we introduce topological parallax as a theoretical and computational tool that compares a trained model to a reference dataset to determine whether they have similar multiscale geometric structure.…
In this paper, we analyze the robustness of the PSO-based approach to parameter estimation of robot dynamics presented in Part One. We have made attempts to make the PSO method more robust by experimenting with potential cost functions. The…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
Estimating 3D rotations is a common procedure for 3D computer vision. The accuracy depends heavily on the rotation representation. One form of representation -- rotation matrices -- is popular due to its continuity, especially for pose…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
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…
Local geometric descriptors remain an essential component for 3D rigid data matching and fusion. The devise of a rotational invariant local geometric descriptor usually consists of two steps: local reference frame (LRF) construction and…
Stochastic geometry provides a powerful framework for modelling complex random structures, with applications in physics, materials science, biology, and other fields. The three-dimensional microstructure of polycrystalline materials is…
We perform simulations and experiments on an oscillating atomic force microscope cantilever approaching a surface, where the intermodulation response of the cantilever driven with two pure harmonic tones is investigated. In the simulations,…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…