Related papers: An Overconstrained Vertical Darboux Mechanism
A mathematical model featuring the motion of a multilink wheeled vehicle is developed using a nonholonomic model. A detailed analysis of the inertial motion is made. Fixed points of the reduced system are identified, their stability is…
We study Darboux transformations for a Boussinesq-type equations. The parasupersymmetric structure of link between Boussinesq and modified Boussinesq systems is revealed.
This paper revisits a three-loop spatial linkage that was proposed in an ARK 2004 paper by Karl Wohlhart (as extension of a two-loop linkage proposed by Eddie Baker in 1980) and later analyzed in an ARK 2006 paper by Diez-Martinez et. al. A…
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…
Achieving closed-loop control over wireless is crucial in realizing the vision of Industry 4.0 and beyond. This demonstration shows the viability of closed-loop control over wireless through a high-performance wireless solution. The…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…
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 systems with many degrees of freedom (DoF) are constrained by the demands of dedicating a motor to each joint, and while mechanical multiplexing reduces actuator count, existing clutch designs are bulky, force-limited, or restricted…
A multi-component semi-discrete nonlinear integrable system associated with the relevant third-order auxiliary linear problem is claimed to be the prototype system for several reduced integrable systems formulated in terms of true dynamical…
The technique of Darboux transformation is applied to nonlocal partner of two-dimensional periodic A_{n-1} Toda lattice. This system is shown to admit a representation as the compatibility conditions of direct and dual overdetermined linear…
Lattice-based modular robot systems are envisioned for large-scale construction in extreme environments, such as space. Coupling mechanisms for heterogeneous structural modules should meet all of the following requirements: single-sided…
As an extension of the intertwining operator idea, an algebraic method which provides a link between supersymmetric quantum mechanics and quantum (super)integrability is introduced. By realization of the method in two dimensions, two…
The technique of differential intertwining operators (or Darboux transformation operators) is systematically applied to the one-dimensional Dirac equation. The following aspects are investigated: factorization of a polynomial of Dirac…
Unlike conventional mechanisms, compliant mechanisms produce the desired deformations by exploiting elastic strain and do not need, therefore, moving parts. The number of degrees of freedom of a conventional mechanism, also called mobility,…
A motion of a mechanism is a curve in its configuration space (c-space). Singularities of the c-space are kinematic singularities of the mechanism. Any mobility analysis of a particular mechanism amounts to investigating the c-space…
Industrial robots are commonly used in various industries due to their flexibility. However, their adoption for machining tasks is minimal because of the low dynamic stiffness characteristic of serial kinematic chains. To overcome this…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
In this paper, we consider a special kind of overconstrained 6R closed linkages which we call angle-symmetric 6R linkages. These are linkages with the property that the rotation angles are equal for each of the three pairs of opposite…
The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a…