相关论文: A Comparative Study of Parallel Kinematic Architec…
With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…
We study the efficiency of sliding locomotion for three-link bodies in the presence of dry (Coulomb) friction. Friction coefficient space can be partitioned into several regions, each with distinct types of efficient kinematics. These…
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In…
Much contemporary research in additive manufacturing focuses on breaking down models into constituent parts in the pursuit of various factors, such as printability of large models in smaller printing volumes, or reduction of support…
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.,…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
A spring in parallel with an effort source (e.g., electric motor or human muscle) can reduce its energy consumption and effort (i.e., torque or force) depending on the spring stiffness, spring preload, and actuation task. However, selecting…
The design and optimisation of aircraft wings are critical tasks in aerospace engineering, requiring a balance between structural integrity, aerostructural performance, and manufacturability. This multifaceted challenge involves the…
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly…
Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics and constraints on the system shape and synthesize complex behaviors. Several previous works have shown its benefits in high-dimensional…
This paper aims to develop an approach for the reconfiguration of a parallel kinematic manipulator (PKM) with four degrees of freedom (DoF) designed to tackle tasks of diagnosis and rehabilitation in an injured knee. The original layout of…
Balancing parallel robots throughout their workspace while avoiding the use of balancing masses and respecting design practicality constraints is difficult. Medical robots demand such compact and lightweight designs. This paper considers…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…
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 demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where the mobile platform loses its stiffness).…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…