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This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…
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…
The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table.…
This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Although nonlinear friction dynamics has a significant impact on these systems, accurately modeling this phenomenon in simulations is a…
Lumped parameter methods aim to simplify the evolution of spatially-extended or continuous physical systems to that of a "lumped" element representative of the physical scales of the modeled system. For systems where the definition of a…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…
We present an asymptotically faster algorithm for solving linear systems in well-structured 3-dimensional truss stiffness matrices. These linear systems arise from linear elasticity problems, and can be viewed as extensions of graph…
This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of the first machine are orthogonal whereas…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a…
We study, both theoretically and numerically, the equilibrium of a hinged rigid leaflet with an attached rotational spring, immersed in a stationary incompressible fluid within a rigid channel. Through a careful investigation of the…
This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In…
This paper evaluates how laminated techniques may be used to replicate the performance of more traditionally manufactured robotic manipulators. In this case study, we introduce a laminated 2-DOF spherical, parallel manipulator. Taking…
This paper proposes a multitask learning framework for probabilistic model updating by jointly using strain and acceleration measurements. This framework can enhance the structural damage assessment and response prediction of existing steel…
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…
A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…