Related papers: A new line-symmetric mobile infinity-pod
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by…
This paper proposes a new gradient method to solve the large-scale problems. Theoretical analysis shows that the new method has finite termination property for two dimensions and converges R-linearly for any dimensions. Experimental results…
Detailed control over the motion of colloidal particles is relevant in many applications in colloidal science such as lab-on-a-chip devices. Here, we use an external magnetic field to assemble paramagnetic colloidal spheres into colloidal…
We present the design and implementation of a taskable reactive mobile manipulation system. In contrary to related work, we treat the arm and base degrees of freedom as a holistic structure which greatly improves the speed and fluidity of…
Motivated by strong desire to understand the natural geometry of moduli spaces of hyperbolic monopoles, we introduce and study a new type of geometry: pluricomplex geometry. It is a generalisation of hypercomplex geometry: we still have a…
We propose a minimal two-leg ladder model in which the mobility edge (ME) arises solely due to bond modulation, introduced through a slowly varying quasiperiodic modulation in the inter-leg tunnelling amplitudes. We demonstrate that this…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular…
Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to…
Dimension-varying linear systems are investigated. First, a dimension-free state space is proposed. A cross dimensional distance is constructed to glue vectors of different dimensions together to form a cross-dimensional topological space.…
This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three Degrees of Freedom (DOF) in orientation and is studied from…
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…
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…
This paper presents a unified algorithm for motion and force control for a six degree-of-freedom spatial manipulator. The motion-force controller performs trajectory tracking, maneuvering the manipulator's end-effector through desired…
Current mobility models for simultaneous mobility have their convolution in designing simultaneous movement where mobile nodes (MNs) travel randomly from the two adjacent cells at the same time and also have their complexity in the…
We introduce an extended framework for the simultaneous gauging of modulated symmetries in $(d+1)$ dimensions, employing {\it multiple} gauge symmetry operators whose corresponding gauging procedures must be carried out simultaneously.…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points…
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…