Related papers: An Overconstrained Vertical Darboux Mechanism
In this paper, we construct two types of 7R closed single loop linkages by combining different factorizations of a general (non-vertical) Darboux motion. These factorizations are obtained by extensions of a factorization algorithm for a…
We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
We develop the Darboux procedure for the case of the two-level system. In particular, it is demonstrated that one can construct the Darboux intertwining operator that does not violate the specific structure of the equations of the two-level…
In this paper we investigate factorizations of polynomials over the ring of dual quaternions into linear factors. While earlier results assume that the norm polynomial is real ("motion polynomials"), we only require the absence of real…
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
We prove that the cyclicity of a quadratic slow-fast integrable system of Darboux type with a double heteroclinic loop is finite and uniformly bounded.
A closed linkage mechanism in three-dimensional space is an object comprising rigid bodies connected with hinges in a circular form like a rosary. Such linkages include Bricard6R and Bennett4R. To design such a closed linkage, it is…
This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capable of parametric reconfiguration between a reptile- and…
We use the recently introduced factorization theory of motion polynomials over the dual quaternions for the synthesis of closed kinematic loops with six revolute joints that visit four prescribed poses. Our approach admits either no or a…
This paper presents a new kinematic model based on the Darboux frame for motion control and planning. In this work, we show that an underactuated model of a spin-rolling sphere on a plane with five states and three inputs can be transformed…
Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead to topology changes. The latter is…
We present two methods to interpolate between two given rigid body displacements. Both are based on linear interpolation in the ambient space of well-known curved point models for the group of rigid body displacements. The resulting motions…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
A matricial Darboux operator intertwining two one-dimensional stationary Dirac Hamiltonians is constructed. This operator is such that the potential of the second Dirac Hamiltonian as well as the corresponding eigenfunctions are determined…
This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third…
Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various…
Compliant mechanisms have significant potential in precision applications due to their ability to guide motion without contact. However, an inherent vulnerability to fatigue and mechanical failure has hindered the translation of compliant…
We use topological techniques to do a workspace analysis of the Canfield Joint, a mechanical linkage constructed with two plates connected by three legs. The Canfield Joint has three degrees of freedom and can be controlled using three…
A linkage mechanism consists of rigid bodies assembled by joints which can be used to translate and transfer motion from one form in one place to another. In this paper, we are particularly interested in a family of spacial linkage…