... mobile assemblies with bifurcation. Here, we proposed four types of mobile assemblies of kaleidocycles, a special type of threefold-symmetric Bricard linkages, based on cubic cellulation and symmetry. Kinematic analysis of them is carried out based on the matrix method and numerical method. Two...

... for publication in the J ournal of M echanisms and R obotics . 15 10 2022 30 01 2023 30 01 2023 21 02 2023 Email: david.xing@keble.ox.ac.uk 1 Corresponding author. Email: zhong.you@eng.ox.ac.uk origami kinematics deployable structures mechanical meta-materials...

...Yuan Gao; Fufu Yang; Jun Zhang In this paper, a new reconfigurable 6R linkage is obtained by combining two identical equilateral Bennett linkages arranged in a plane-symmetric manner, and a detailed kinematic analysis is conducted which shows that there are six distinct motion modes and three...

... by the intermediate metamorphic limb and locking device enhance the dexterity of the metamorphic parallel mechanism. The configurations of the 3-RPS/(H) metamorphic parallel mechanism are analyzed and their degrees-of-freedom are obtained. Additionally, an inverse kinematic analysis of the mechanism is performed...

...Utkarsh A. Mishra; Stéphane Caro Kinematic analysis of under-constrained cable-driven parallel robots (CDPR) has been a topic of interest because of the inherent coupling between the loop-closure and static equilibrium equations. The non-linearity of the problem is magnified with the addition...

... manufacturing lines. However, due to the multi-closed loop between azimuth pitch rotations and hybrid module, the workspace is coupled, so that the mechanism has problems in building the forward and inverse position, kinematics, and dynamics analytical models, numerical solution calculation speed, and multi...

..., modeling, and inverse kinematics (IK) are challenging due to their special structures and redundant degrees-of-freedom. In this paper, a modular cable-driven manipulator (CDM) is designed. A lightweight and expandable structure is proposed to reduce weight of the whole manipulator and improve its...

...Chong Zhao; Ke Wang; Haifeng Zhao; Hongwei Guo; Rongqiang Liu The kinematics and dynamics of n(3RRlS) reconfigurable series–parallel manipulators (RSPMs) are the theoretical foundations for capturing noncooperative targets in space. In this study, a unified kinematic and dynamic modeling method...

...Vinh Nguyen; Jeremy A. Marvel Industrial robots are highly desirable in applications including manufacturing and surgery. However, errors in the modeling of the kinematics of robotic arms limit their positional accuracy in industrial applications. Specifically, analytical kinematic models...

... mechanisms mechanism synthesis parallel platforms kinematics Compliant manipulators are used nowadays in many fields since their flexibility, modularized construction, and low weight. Many new mechanical structures were studied in this area [ 1 – 6 ], which showed quite good performances compared...

... . 15 12 2020 21 08 2021 23 08 2021 20 09 2021 cable-driven parallel robot parallel mechanism kinematics dynamics trajectory planning National Natural Science Foundation of China 10.13039/501100001809 U19A20101 With the rapid development of light...

... of kinematic chains (limbs). Each limb usually contains only one actuated joint that is located on or near the base thus reducing the mobile masses to get a fast manipulator. The multiple connections between platform and base make PMs stiffer and more accurate than their serial counterparts, but suffers from...

... node modules only have translational motions, which can significantly reduce the complexity of kinematics. The forward and inverse kinematics are conducted to show the deformation properties. Based on the kinematic rolling principle, the morphing strategies for rolling and turning functions...

... of the reference anatomy is concerned in the first optimization stage. Two different kinematic manipulability measures are utilized to form the objective function of the genetic algorithm (GA) used. Determination of the optimal anatomy for each task execution is concerned in the second stage. All feasible...

.... First, these PPMs are denoted by a set of independent loops using a topological structural analysis of the kinematic chains and structural decomposition. Then, the relationship between the mobility factor and the loop factor in the same independent loop is utilized to obtain the folded or stretched...

...Chuanyang Li; Hongwei Guo; Dewei Tang; Huiyin Yan; Rongqiang Liu; Zongquan Deng Space manipulation has great prospects in aerospace applications. In this work, a multiloop robot, namely 3-R(SRS)RP multiloop mechanism, is presented. Its design, kinematics, singularity, and workspace are studied...

...Chunsong Zhang; Chi Zhang; Jian S. Dai; Peng Qi To date, most quadruped robots are either equipped with trunks that are rigid bodies or consist of blocks connected by passive joints. The kinematic performance of these quadruped robots is only determined by their legs. To release the mobility...

...Yuanxi Sun; Wenjie Ge; Jia Zheng; Dianbiao Dong This paper presents a systematic solution of the kinematics of the planar mechanism from the aspect of Assur groups. When the planar mechanism is decomposed into Assur groups, the detailed calculating order of Assur groups is unknown. To solve...

... with the simulation results of the moving platform, the two forward acceleration solutions are identity. So it is verified that the FEM can accurately solve the forward acceleration. In this paper, the FEM for kinematics solution of PMs is presented and this approach is used to analyze the kinematics...

... [10] Husty , M. L. , and Karger , A. , 1996 , “ On Self-Motions of a Class of Parallel Manipulators ,” Advances in Robot Kinematics , J. Lenarcic and V. Parenti-Castelli , eds., Kluwer Academic Publishers , Dordrecht, Netherlands, pp. 339 – 348 . [11] Husty , M. L...