Related papers: A new line-symmetric mobile infinity-pod
This paper presents bilateral control laws for one-dimensional(1-D) linear 2x2 hyperbolic first-order systems (with spatially varying coefficients). Bilateral control means there are two actuators at each end of the domain. This situation…
Although parallel manipulators (PMs) started with the introduction of architectures with 6 Degrees of Freedom (DoF), a vast number of applications require less than 6 DoF. Consequently, scholars have proposed architectures with 3 DoF and 4…
The complete classification of hexapods - also known as Stewart Gough platforms - of mobility one is still open. To tackle this problem, we can associate to each hexapod of mobility one an algebraic curve, called the configuration curve. In…
We investigate the effect of an additional modulation parameter $\delta$ on the mobility properties of quasiperiodic lattices described by a generalized Ganeshan-Pixley-Das Sarma model with two on site modulation parameters. For the case…
We consider a category whose morphisms are bordisms of $n$-dimensional pseudomanifolds equipped with a certain additional structure (coloring). On the other hand, we consider the product $G$ of $(n+1)$ copies of infinite symmetric group. We…
This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where the mobile platform loses its stiffness).…
We combine MAP-Elites and highly parallelisable simulation to explore the design space of a class of large legged robots, which stand at around 2m tall and whose design and construction is not well-studied. The simulation is modified to…
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity…
Robotic arms are key components in fruit-harvesting robots. In agricultural settings, conventional serial or parallel robotic arms often fall short in meeting the demands for a large workspace, rapid movement, enhanced capability of…
The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly…
We extend the usual notion of parallel transport along a path to triangulated surfaces. A homotopy of paths is lifted into a fibered category with connection and this defines a functor between the fibers above the boundary paths. These…
Surface operators in gauge theory are analogous to Wilson and 't Hooft line operators except that they are supported on a two-dimensional surface rather than a one-dimensional curve. In a previous paper, we constructed a certain class of…
We obtain approximate solutions defining the mobility edge separating localized and extended states for several classes of generic one-dimensional quasiperiodic models. We validate our analytical ansatz with exact numerical calculations.…
The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints…
Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This paper analyses in detail such points, both in the joint space…
The paper focuses on the mechanics of a compliant serial manipulator composed of new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the manipulator stable and unstable equilibrium…
There exists a bijection between the configuration space of a linear pentapod and all points $(u,v,w,p_x,p_y,p_z)\in\mathbb{R}^{6}$ located on the singular quadric $\Gamma: u^2+v^2+w^2=1$, where $(u,v,w)$ determines the orientation of the…
This paper investigates the existence conditions of cusp points in the design parameter space of the R\underline{P}R-2P\underline{R}R parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which can…
Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their…
We use freely acting asymmetric orbifolds of type IIB string theory to construct a class of theories in four dimensions with eight supercharges. Their low energy effective field theories resemble $STU$ models, but have different duality…