相关论文: Kinematic analysis of the 3-RPR parallel manipulat…

During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

Screw theory provides geometrical insight into the mechanics of rigid bodies. Screw axis is defined as the line coinciding with the joint axis. Line transformations in the form of a screw operator are used to determine the joint axes of a…

The paper focuses on the stiffness modeling of parallel manipulators composed of non-perfect serial chains, whose geometrical parameters differ from the nominal ones. In these manipulators, there usually exist essential internal…

In this paper we combine a survey of the most important topological properties of kinematic maps that appear in robotics, with the exposition of some basic results regarding the topological complexity of a map. In particular, we discuss…

Several publications are concerned with learning inverse kinematics, however, their evaluation is often limited and none of the proposed methods is of practical relevance for rigid-body kinematics with a known forward model. We argue that…

Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…

To facilitate sensing and physical interaction in remote and/or constrained environments, high-extension, lightweight robot manipulators are easier to transport and reach substantially further than traditional serial chain manipulators. We…

It is well known that a rotation of a free generic three-dimensional rigid body is stationary if and only if it is a rotation around one of three principal axes of inertia. As it was noted by many authors, the analogous result is true for a…

Modern manipulators are acclaimed for their precision but often struggle to operate in confined spaces. This limitation has driven the development of hyper-redundant and continuum robots. While these present unique advantages, they face…

The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of…

This paper presents the workspace optimization of one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. The mixed degrees of freedom of 1T2R parallel manipulators,…

Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects…

Recently, a time-varying quadratic programming (QP) framework that describes the tracking operations of redundant robot manipulators is introduced to handle the kinematic resolutions of many robot control tasks. Based on the generalization…

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…

In this note we study the structure and the behavior of inarticulate robots. We introduce a robot that moves by successive revolvings. The robot's structure is analyzed, simulated and discussed in detail.

Considering the difficulty of students in calculating the direct and inverse kinematics of a robotic manipulator using only conventional tools of a classroom, this article proposes the application of Project Based Learning (ABP) through the…

The paper focuses on the mechanics of a compliant serial manipulator composed of new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the manipulator stable and unstable equilibrium…