Related papers: Analysis of a 3-RUU Parallel Manipulator
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…
This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Pl\"ucker vector of lines (finite and infinite) constituting the rows of the…
This is the first of a series of papers studying real algebraic threefolds using the minimal model program. The main results are outlined in Part II. The present part I. contains the necessary preliminary work concerning terminal…
Transformers demonstrate impressive performance on a range of reasoning benchmarks. To evaluate the degree to which these abilities are a result of actual reasoning, existing work has focused on developing sophisticated benchmarks for…
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the…
We consider a family of potentials f, derived from the Hofbauer potentials, on the symbolic space Omega=\{0,1\}^\mathbb{N} and the shift mapping $\sigma$ acting on it. A Ruelle operator framework is employed to show there is a phase…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
Targeting simulations on parallel hardware architectures, this paper presents computational kernels for efficient computations in mortar finite element methods. Mortar methods enable a variationally consistent imposition of coupling…
Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on…
This article synthezises the most important results on the kinematics of cuspidal manipulators i.e. nonredundant manipulators that can change posture without meeting a singularity. The characteristic surfaces, the uniqueness domains and the…
We investigated singular points of translation surfaces under the linearly independent condition. In this paper, as completion, we investigate singular points of translation surfaces under the linearly dependent condition, using the…
This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a…
Doubling metric measure spaces provide a natural framework for singular integral operators. In contrast, the study of maximally modulated singular integral operators, the so-called Carleson operators, has largely been limited to Euclidean…
Many parallel and distributed computing research results are obtained in simulation, using simulators that mimic real-world executions on some target system. Each such simulator is configured by picking values for parameters that define the…
We investigate the structure of the constraints on three-point correlation functions emerging when conformal invariance is imposed in momentum space and in arbitrary space-time dimensions, presenting a derivation of their solutions for…
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…
In this paper, we study the following singular problem associated with mixed operators (the combination of the classical Laplace operator and the fractional Laplace operator) under mixed boundary conditions \begin{equation*} \label{1}…
Different possible sources are discussed for enhancement of the calculation time when solving ordinary differential equations systems to forecast space objects' motion. This paper presents an approach for building an integrator of ordinary…
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…
In the paper, three-dimensional Nijenhuis operators are studied that have differential singularities, i.e., such points at which the coefficients of the characteristic polynomials are dependent. The case is studied in which the…