相关论文: The Computation of All 4R Serial Spherical Wrists …
Serial robot arms have complicated kinematic equations which must be solved to write effective arm planning and control software (the Inverse Kinematics Problem). Existing software packages for inverse kinematics often rely on numerical…
Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number leads, under certain conditions, to…
Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an…
The algebras for all possible Lorentzian and Euclidean kinematics with $\frak{so}(3)$ isotropy except static ones are re-classified. The geometries for algebras are presented by contraction approach. The relations among the geometries are…
We show how the variational characterisation of spherical designs can be used to take a union of spherical designs to obtain a spherical design of higher order (degree, precision, exactness) with a small number of points. The examples that…
The aim of this paper is to study supersoluble skew braces, a class of skew braces that encompasses all finite skew braces of square-free order. It turns out that finite supersoluble skew braces have Sylow towers, and that in an arbitrary…
Dexterous robotic hands require high-speed multimodal sensing across many degrees of freedom, yet existing readout architectures often impose trade-offs between sensor count, wiring complexity, and sampling bandwidth. This paper presents a…
While the notion of isometric deformations of surfaces is straightforward for surfaces with Euclidean metric, a corresponding notion in isotropic space has been missing. By making Gauss' Theorema Egregium a necessary condition we develop a…
A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined…
Let K be a knot in the 3-sphere. A slope p/q is said to be characterising for K if whenever p/q surgery on K is homeomorphic, via an orientation-preserving homeomorphism, to p/q surgery on another knot K' in the 3-sphere, then K and K' are…
The work function is a fundamental electronic property of a solid that varies with the facets of a crystalline surface. It is a crucial parameter in spectroscopy as well as materials design, especially for technologies such as thermionic…
The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like robot to imitate the eel swimming. To…
A (positive definite and non-classic integral) quadratic form is called strongly $s$-regular if it satisfies a strong regularity property on the number of representations of squares of integers. In this article, we prove that for any…
Generically, a fully measured elasticity tensor has no material symmetry. For single crystals with a cubic lattice, or for the aeronautics turbine blades superalloys such as Nickelbased CMSX-4, cubic symmetry is nevertheless expected. It is…
Random operators constitute fundamental building blocks of models of complex systems yet are far from fully understood. Here, we explain an asymmetry emerging upon repeating identical isotropic (uniformly random) operations. Specifically,…
Holding a shell in their hands, one can apply six loads: three by pulling and shearing, and three by bending and twisting. Here, it is shown that the shell resists exactly three load cases and comply with the other three, provided the shell…
We describe an algorithm to enumerate polytopes. This algorithm is then implemented to give a complete classification of combinatorial spheres of dimension 3 with 9 vertices and decide polytopality of those spheres. In particular, we…
Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…
A number of recent papers have studied when symmetry causes frameworks on a graph to become infinitesimally flexible, or stressed, and when it has no impact. A number of other recent papers have studied special classes of frameworks on…
We completely characterize orbit reflexivity and R-orbit reflexivity for square matrices over the real numbers. Unlike the complex case in which every matrix is orbit reflexive and C-orbit reflexivity is characterized solely in terms of the…