Related papers: An Overconstrained Vertical Darboux Mechanism
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
Kinematics of mechanisms is intricately coupled to their geometry and their utility often arises out of the ability to perform reproducible motion with fewer actuating degrees of freedom. In this article, we explore the assembly of…
Deployable polyhedral mechanisms (DPMs) have witnessed flourishing growth in recent years because of their potential applications in robotics, space exploration, structure engineering, etc. This paper firstly presents the construction,…
This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory…
Orthogonal Laurent polynomials in the unit circle and the theory of Toda-like integrable systems are connected using the Gauss--Borel factorization of a Cantero-Moral-Velazquez moment matrix, which is constructed in terms of a complex…
A new approach to the human-robot shared control of the Extra Robotic Legs (XRL) wearable augmentation system is presented. The XRL system consists of two extra legs that bear the entirety of its backpack payload, as well as some of the…
We prove that 1) diagonal systems of hydrodynamic type are Darboux integrable if and only if the corresponding systems for commuting flows are Darboux integrable, 2) systems for commuting flows are Darboux integrable if and only if the…
We derive a Kondo Lattice model with a correlated conduction band from a two-band Hubbard Hamiltonian. This mapping allows us to describe the emergence of a robust pairing mechanism in a model that only contains repulsive interactions. The…
It has been shown that a small discontinuity such as an enlargement or a hole on circular waveguides can produce trapped electromagnetic modes with frequencies slightly below the waveguide cutoff. The trapped modes due to multiple…
We demonstrate the existence of confined states in one- and two-dimensional (1D and 2D) systems of two linearly-coupled components, with the confining harmonic-oscillator (HO) potential acting upon one component, and an expulsive anti-HO…
Some new developments in constrained Lax integrable systems and their applications to physics are reviewed. After summarizing the tau function construction of the KP hierarchy and the basic concepts of the symmetry of nonlinear equations,…
The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists of a moving platform that is connected…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
The ability to convert reciprocating, i.e., alternating, actuation into rotary motion using linkages is hindered fundamentally by their poor torque transmission capability around kinematic singularity configurations. Here, we harness the…
In real life, many people have leg defects. the goal of our work is to design a mechanism which could help them walk based on a specific trajectory and realize flexible walking finally. In this paper, we use a motor to drive a multi-link…
This is an overview about a method of constructing ccc forcings: Suppose first that a continuous, commutative system of complete embeddings between countable forcings indexed along $\omega_1$ is given. Then its direct limit satisfies ccc by…
Compliant mechanisms achieve motion through elastic deformation. In this work, we address the synthesis of a compliant cross-hinge mechanism capable of large angular strokes while approximating the behavior of an ideal revolute joint. To…
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…
We investigate the dynamics of finite degree-of-freedom, planar mechanical systems with multiple sliding, unilateral frictional point contacts. A complete classification of systems with 2 sliding contacts is given. The contact-mode based…
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…