Related papers: A new line-symmetric mobile infinity-pod
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists…
This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation…
Using the theory of extensors developed in a previous paper we present a theory of the parallelism structure on arbitrary smooth manifold. Two kinds of Cartan connection operators are introduced and both appear in intrinsic versions (i.e.,…
The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also in a geometric meaningful index evaluating how far the robot design is away from being…
Starting with a choice of a gauge group in four dimensions, there is often freedom in the choice of magnetic and dyonic line operators. Different consistent choices of these operators correspond to distinct physical theories, with the same…
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…
Ladder operators can be constructed for all potentials that present the integrability condition known as shape invariance, satisfied by most of the exactly solvable potentials. Using the superalgebra of supersymmetric quantum mechanics we…
This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in which all pairs of adjacent joint axes are…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
We prove that every cusped hyperbolic 3-manifold has a finite cover admitting infinitely many geometric ideal triangulations. Furthermore, every long Dehn filling of one cusp in this cover admits infinitely many geometric ideal…
A notion of dual curve for pseudoholomorphic curves in 4--manifolds turns out to be possible only if the notion of almost complex structure structure is slightly generalized. The resulting structure is as easy (perhaps easier) to work with,…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
For every $k \geq 2$ we construct infinitely many $4k$-dimensional manifolds that are all stably diffeomorphic but pairwise not homotopy equivalent. Each of these manifolds has hyperbolic intersection form and is stably parallelisable. In…
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear…
We prove that the tangent bundle of a generic space of planar n-gons with specified side lengths, identified under isometry, plus a trivial line bundle is isomorphic to (n-2) times a canonical line bundle. We then discuss consequences for…
Novel geometries can be created by coupling internal states of atoms or molecules to mimic movement in real-space
We investigate the motions of a bar structure consisting of two congruent tetrahedra, whose edges in their basic position form the face diagonals of a rectangular parallelepiped. The constraint of the motion is that the originally…
In this note we make use of some properties of vector fields on a manifold to give an alternate proof to [3] for the equivalence between connections and parallel transport on vector bundles over manifolds. Out of the proof will emerge a new…
This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one, called agile eye, produces the…