相关论文: Sarrus-inspired Deployable Polyhedral Mechanisms

Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…

Discrete flow mapping was recently introduced as an efficient ray based method determining wave energy distributions in complex built up structures. Wave energy densities are transported along ray trajectories through polygonal mesh…

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.…

According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper design a novel 3-translation (3T) PM that has three advantages, i.e., 1) it…

Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various…

Motivated by proving the loss of ergodicity in expanding systems of piecewise affine coupled maps with arbitrary number of units, all-to-all coupling and inversion symmetry, we provide ad-hoc substitutes - namely inversion-symmetric maps of…

Nowadays, we have seen that dual quaternion algorithms are used in 3D coordinate transformation problems due to their advantages. 3D coordinate transformation problem is one of the important problems in geodesy. This transformation problem…

Haptic interfaces play a critical role in medical teleoperation by enabling surgeons to interact with remote environments through realistic force and motion feedback. Achieving high fidelity in such systems requires balancing the trade-offs…

We use inverse methods of statistical mechanics and computer simulations to investigate whether an isotropic interaction designed to stabilize a given two-dimensional (2D) lattice will also favor an analogous three-dimensional (3D)…

Polymorphism, the ability of a compound to crystallize in multiple distinct structures, plays a vital role in determining the physical, chemical, and functional properties of materials. Accurate identification and prediction of polymorphic…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

Using a numerical implementation of the ADHMN construction, we compute the fields and energy densities of a charge three monopole with tetrahedral symmetry and a charge four monopole with octahedral symmetry. We then construct a one…

We prove a novel method for the embedding of a 3-fold rotationally symmetric sphere-type mesh onto a subset of the plane with 3-fold rotational symmetry. The embedding is free-boundary with the only additional constraint on the image set is…

In this paper, we present RhoMorph, a novel deformable planar lattice modular self-reconfigurable robot (MSRR) with a rhombus shaped module. Each module consists of a parallelogram skeleton with a single centrally mounted actuator that…

The Sierpinski tetrahedron has a remarkable property: It is projected to squares in three orthogonal directions, and moreover, to sets with positive Lebesgue measures in numerous directions. This paper proposes a method for characterizing…

Metamaterials benefit from unique architected patterns to achieve lightweight with exceptional mechanical properties inaccessible to conventional materials. Typical mechanical metamaterials are inspired by crystal-like lattice structures,…

Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints…

We study in this paper a class of 3-RPR manipulators for which the direct kinematic problem (DKP) is split into a cubic problem followed by a quadratic one. These manipulators are geometrically characterized by the fact that the moving…

Orthogonal circularly polarized light is essential for multiplexing tunable metasurfaces. Mainstream spin-decoupled metasurfaces, consisting of numerous meta-atoms with mirror symmetry, rely on the cooperative modulation of the…

The decomposition of the polynomials on the quaternionic unit sphere in $\Hd$ into irreducible modules under the action of the quaternionic unitary (symplectic) group and quaternionic scalar multiplication has been studied by several…