Related papers: Non-singular assembly mode changing trajectories i…
Parallel robots (PRs) have singular configurations where the robot gains at least one degree of freedom and loses control. Theoretically, such singularity occurs when the Forward Jacobian-matrix determinant becomes zero (Type II). However,…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
Parallel self-assembly is an efficient approach to accelerate the assembly process for modular robots. However, these approaches cannot accommodate complicated environments with obstacles, which restricts their applications. This paper…
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper design a novel 3-translation (3T) PM that has three advantages, i.e., 1) it…
This paper investigates a situation pointed out in a recent paper, in which a non-singular change of assembly mode of a planar 2-RPR-PR parallel manipulator was realized by encircling a point of multiplicity 4. It is shown that this…
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
We study the classic sliding cube model for programmable matter under parallel reconfiguration in three dimensions, providing novel algorithmic and surprising complexity results in addition to generalizing the best known bounds from two to…
The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free trajectories, as well as a good manipulability in…
Recursive matrix relations for the complete dynamics of a 3-PRP planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of…
We present a theoretical and numerical analysis of the kinematics for the "Transpressor", a cuspidal 6R robot. It admits up to 16 inverse kinematics solutions which are described geometrically. For special target poses, we provide the…
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. However, the elementary robotic configuration and geometric…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional…
We have investigated the exceptional points (EPs) which are degeneracies of a non-Hermitian Hamiltonian, in the case that three modes are interacting with each other. Even though the parametric evolution of the modes cannot be uniquely…