相关论文: Sarrus-inspired Deployable Polyhedral Mechanisms
The surprising recent discoveries of quasicrystals and their approximants in soft matter systems poses the intriguing possibility that these structures can be realized in a broad range of nano- and micro-scale assemblies. It has been…
In this paper, we show how regular convex 4-polytopes - the analogues of the Platonic solids in four dimensions - can be constructed from three-dimensional considerations concerning the Platonic solids alone. Via the Cartan-Dieudonne…
This paper evaluates how laminated techniques may be used to replicate the performance of more traditionally manufactured robotic manipulators. In this case study, we introduce a laminated 2-DOF spherical, parallel manipulator. Taking…
The structural complexity of metamaterials is limitless, although in practice, most designs comprise periodic architectures which lead to materials with spatially homogeneous features. More advanced tasks, arising in e.g. soft robotics,…
We consider the issue of deriving superintegrable systems with position dependent mass (PDM) in two dimensions from certain known superintegrable systems using the recently introduced method of master symmetries and complex factorization by…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
We present a comprehensive study on discrete morphological symmetries of dynamical systems, which are commonly observed in biological and artificial locomoting systems, such as legged, swimming, and flying animals/robots/virtual characters.…
We study the properties of the nuclear rotational excitations with hypothetical tetrahedral symmetry by employing the microscopic mean-field and residual-interaction Hamiltonians with angular-momentum and parity projection method; we focus…
Recent advances in active materials and fabrication techniques have enabled the production of cyclically self-deployable metamaterials with an expanded functionality space. However, designing metamaterials that possess continuously tunable…
We develop a computational framework that leverages the features of sophisticated software tools and numerics to tackle some of the pressing issues in the realm of earth sciences. The algorithms to handle the physics of multiphase flow,…
Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc.…
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
In this article, we will construct an overconstrained closed-loop linkage consisting of four revolute and one cylindrical joint. It is obtained by factorization of a prescribed vertical Darboux motion. We will investigate the kinematic…
Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. The proximal placement of their motors and the low weight of their end effectors make them ideal for generating highly dynamic motion.…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…
This paper presents a new type of distributed dexterous manipulator: delta arrays. Our delta array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages. Through the design of the individual delta robots,…
This research proposes a novel morphing structure with shells inspired by the movement of pillbugs. Instead of the pillbug body, a loopcoupled mechanism based on slider-crank mechanisms is utilized to achieve the rolling up and spreading…
A method is developed here for building differentiable three-dimensional manifolds on multicube structures. This method constructs a sequence of reference metrics that determine differentiable structures on the cubic regions that serve as…
Detailed control over the motion of colloidal particles is relevant in many applications in colloidal science such as lab-on-a-chip devices. Here, we use an external magnetic field to assemble paramagnetic colloidal spheres into colloidal…