相关论文: The Isoconditioning Loci of Planar Three-DOF Paral…
The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the…
The subject of this paper is a special class of closed-chain manipulators. First, we analyze a family of two-degree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the kinematic relations between the joint-rate…
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…
Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix…
This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Pl\"ucker vector of lines (finite and infinite) constituting the rows of the…
This paper proposes a new methodology for deriving a point-based dimensionally homogeneous Jacobian, intended for performance evaluation and optimization of parallel manipulators with mixed degrees of freedom. Optimal manipulator often rely…
The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free trajectories, as well as a good manipulability in…
We consider a family of discrete Jacobi operators on the one-dimensional integer lattice with Laplacian and potential terms modulated by a primitive invertible two-letter substitution. We investigate the spectrum and the spectral type, the…
We study the Jacobi osculating rank of geodesics on naturally reductive homogeneous manifolds and we apply this theory to the 3-dimensional case. Here, each non-symmetric, simply connected naturally reductive 3-manifold can be given as a…
The aim of this paper is to compute of the generalized aspects, i.e. the maximal singularity-free domains in the Cartesian product of the joint space and workspace, for a planar parallel mechanism in using quadtree model and interval…
This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower-mobility parallel manipulators and parallel…
We define Jacobi forms of indefinite lattice index, and show that they are isomorphic to vector-valued modular forms also in this setting. We also consider several operations of the two types of objects, and obtain an interesting bilinear…
Jacobi-type algorithms for simultaneous approximate diagonalization of real (or complex) symmetric tensors have been widely used in independent component analysis (ICA) because of their good performance. One natural way of choosing the…
The research on spectral inequalities for discrete Schrodinger Operators has proved fruitful in the last decade. Indeed, several authors analysed the operator's canonical relation to a tridiagonal Jacobi matrix operator. In this paper, we…
The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with…
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined empirically. In recent years, the development of robotic…
We study parametric equations, which describe the position of an in-parallel planar manipulator. We discuss isometries in the Gauss plane, then we write the loop-closure equations in terms of the rotations as the parameters.
The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or…
The spectral properties of two special classes of Jacobi operators are studied. For the first class represented by the $2M$-dimensional real Jacobi matrices whose entries are symmetric with respect to the secondary diagonal, a new…
This paper has three main objectives: (i) To establish an isomorphism between Jacobi forms of index $D_{2n+1}$ (lattice index) and elliptic modular forms of level $2$. (ii) To provide an explicit formula for the Fourier coefficients of…