Related papers: Stiffness modelling of parallelogram-based paralle…
This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third…
The dynamic characteristics of near-field levitation bearings have been investigated in this study. Through theoretical analysis, two different types of system stiffness are defined and derived analytically. The dynamic stiffness relates…
This paper addresses the problem of parallelizing computations to study non-linear dynamics in large networks of non-locally coupled oscillators using heterogeneous computing resources. The proposed approach can be applied to a variety of…
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…
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…
Accurate and robust models for the pressure strain correlation are an essential component for the success of Reynolds Stress Models in turbulent flow simulations. However replicating the non-local action of pressure using only local tensors…
This work presents the application of reinforcement learning to improve the performance of a highly dynamic hopping system with a parallel mechanism. Unlike serial mechanisms, parallel mechanisms can not be accurately simulated due to the…
This paper presents an alternative approach to the study of distance rigidity in networks of mobile agents, based on a subframework scheme. The advantage of the proposed strategy lies in expressing framework rigidity, which is inherently…
The aim of our work is to provide a simple homogenization and discrete-to-continuum procedure for energy driven problems involving stochastic rapidly-oscillating coefficients. Our intention is to extend the periodic unfolding method to the…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
Distributed parameter systems (DPS) are formulated as partial differential equations (PDE). Especially, under time-varying boundary conditions, PDE introduce force coupling. In the case of the flexible stacker crane (STC), nonlinear…
A bio-inspired, passively deployable flap attached to an airfoil by a torsional spring of fixed stiffness can provide significant lift improvements at post-stall angles of attack. In this work, we describe a hybrid active-passive variant to…
Neural networks have become a cornerstone of machine learning. As the trend for these to get more and more complex continues, so does the underlying hardware and software infrastructure for training and deployment. In this survey we answer…
Sliding cable system with frictions is encountered in many engineering applications. Such system is typically characterized by existences of complex and varied motion states of different sliding nodes (pulleys), which leads to significant…
It is shown that a compound elastic structure, which displays a dynamic instability, may be designed as the union (or 'fusion') of two structures which are stable when separately analyzed. The compound elastic structure has two degrees of…
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…
The present work provides an analytic solution for the stiffness to crack length relation in microscopic cantilever shaped fracture specimens based on classical beam theory and substitution of the crack by a virtual rotational spring…
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches…
The coordination modelling language Paradigm addresses collaboration between components in terms of dynamic constraints. Within a Paradigm model, component dynamics are consistently specified at a detailed and a global level of abstraction.…
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…