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Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists…
This paper presents a novel model order reduction technique tailored for power systems with a large share of inverter-based energy resources. Such systems exhibit an increased level of dynamic stiffness compared to traditional power…
This study examines the mechanical behavior of a novel class of mechanical metamaterials alternating pentamode lattices and stiffening plates. The unit cell of such lattices consists of a sub-lattice of the face cubic-centered unit cell…
The study is devoted to the geometrically nonlinear simulation of fiber-reinforced composite structures. The applicability of the multiplicative approach to the simulation of viscoelastic properties of a composite material is assessed,…
Disordered spring networks are a useful paradigm to examine macroscopic mechanical properties of amorphous materials. Here, we study the elastic behavior of under-constrained spring networks, i.e.\ networks with more degrees of freedom than…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
This paper presents a new geometric and recursive algorithm for analytically computing the forward dynamics of heavy-duty parallel-serial mechanisms. Our solution relies on expressing the dynamics of a class of linearly-actuated parallel…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
The paper presents a generalization of Arnold-Falk-Winther elements for three dimensional linear elasticity, to meshes with elements of variable order. The generalization is straightforward but the stability analysis involves a non-trivial…
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…
Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanics, and machine learning. Though specific modeling techniques…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…
In this paper, the dynamic modeling of a seven linked humanoid robot, is accurately developed, in the three dimensional space using the Newton-Euler formalism. The aim of this study is to provide a clear and a systematic approach so that…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
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…
This paper extends the deep material network (DMN) proposed by Liu et al. (2019) to tackle general 3-dimensional (3D) problems with arbitrary material and geometric nonlinearities. It discovers a new way of describing multiscale…
Aeroelastic model testing is essential for evaluating the wind resistance performance of long-span suspension bridges. In these models, truss girders are commonly modelled by a discrete-stiffness system incorporating U-shaped springs to…
This paper presents a half-analytical elastic solution convenient for parametric studies of 2D cracked pavements. The pavement structure is reduced to three elastic and homogeneous equivalent layers resting on a soil. In a similar way than…