相关论文: Sarrus-inspired Deployable Polyhedral Mechanisms

This paper presents the foundation of a modular robotic system comprised of several novel modules in the shape of a tetrahedron. Four single-propeller submodules are assembled to create the Tetracopter, a tetrahedron-shaped quad-rotorcraft…

Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of components, including guide rails and…

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…

This paper presents the geometry design and analysis of a novel triple scissors links deployable antenna mechanism (TSDAM) to deal with the problems of large aperture and high precision space antennas for deep space communication and Earth…

Many objects, especially these made by humans, are symmetric, e.g. cars and aeroplanes. This paper addresses the estimation of 3D structures of symmetric objects from multiple images of the same object category, e.g. different cars, seen…

Mechanical metamaterials utilize geometry to achieve exceptional mechanical properties, including those not typically possible for traditional materials. To achieve these properties, it is necessary to identify the proper structures and…

This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic…

The study of the combinatorial diameter of a polyhedron is a classical topic in linear-programming theory due to its close connection with the possibility of a polynomial simplex-method pivot rule. The 2-sum operation is a classical…

The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms and parallel kinematic architectures.…

The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dimensionality of the configuration space. We propose to reduce…

We present a simple solution to enhance the separation ability of deterministic lateral displacement (DLD) systems by expanding the two-dimensional nature of these devices and driving the particles into size-dependent, fully…

Motivated by applications in geomorphology, the aim of this paper is to extend Morse-Smale theory from smooth functions to the radial distance function (measured from an internal point), defining a convex polyhedron in 3-dimensional…

The Rouse-Ham model is a simple yet useful dynamics model for an unentangled branched polymer. In this work, we study the normal modes of the Rouse-Ham type coarse-grained symmetric star polymer model. We model a star polymer by connecting…

Distributed cyber-physical systems (DCPS) are pervasive in areas such as aeronautics and ground transportation systems, including the case of distributed hybrid systems. DCPS design and verification is quite challenging because of…

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…

Salamander-like quadruped robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological features and largely rely on predefined gait patterns…

The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling…

Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…

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…

Families of three-body Hamiltonian systems in one dimension have been recently proved to be maximally superintegrable by interpreting them as one-body systems in the three-dimensional Euclidean space, examples are the Calogero, Wolfes and…