Related papers: Stiffness Analysis of Overconstrained Parallel Man…
This paper presents the integration of a Variable Stiffness Link (VSL) for long-reach aerial manipulation, enabling adaptable mechanical coupling between an aerial multirotor platform and a dual-arm manipulator. Conventional long-reach…
The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid…
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…
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…
Many studies simulates the machining process by using a single degree of freedom spring-mass sytem to model the tool stiffness, or the workpiece stiffness, or the unit tool-workpiece stiffness in modelings 2D. Others impose the tool action,…
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined empirically. In recent years, the development of robotic…
Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficient load and effectively reject external disturbances are two…
In 3D printing, stiff fibers (e.g., carbon fiber) can reinforce thermoplastic polymers with limited stiffness. However, existing commercial digital manufacturing software only provides a few simple fiber layout algorithms, which solely use…
A force balanced manipulator design based on the closed chain planar five bar linkage is developed and experimentally validated. We present 2 variants as a modular design: Forbal-2, a planar 2-DOF manipulator, and its extension to 5-DOF…
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…
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…
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…
This paper presents a haptic interface with modular linear actuators which can address limitations of conventional devices based on rotatory joints. The proposed haptic interface is composed of parallel linear actuators that provide high…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
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…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
The present project deals with the elastostatic modeling and calibration experiment of spacial industrial manipulators using an optimal selection of measurements pose, for the calibration procedure, the optimal pose selection aims to the…
Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual…
Pneumatic artificial muscles are a quite interesting type of actuators which have a very high power-to-weight and power-to-volume ratio. However, their efficient use requires very accurate control methods which can take into account their…
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…