.... Through dynamic simulations and manipulability assessments, the importance of variable coupling inertia in creating a sufficient reaction torque is highlighted. It is shown that two-DoF tails with solely revolute joints are best suited to address the balance augmentation issue. Within the two-DoF options...

... ~ . For serial manipulator kinematics, experience to date suggests that a single set N 1 may cover X ~ . In applications such as manipulator dynamics and control, however, one must be prepared to deal with a substantial number of such sets. On each N j , there is a base point x...

...) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system...

...Wei Zhu; Zhu Xu; Zhiyuan Ma; Huiping Shen Since previous studies of parallel mechanisms (PMs) have tended to favor symmetrical overall configuration to obtain relatively stable kinematic and dynamic performance and to satisfy isotropic requirements. The analysis of kinematic and dynamic performance...

... prosthesis. The inverse dynamical equation of the system will help to understand whether specific types of soft actuators can produce the required force to generate natural phonations. Hence, this is referred to as the active actuation model. We present the analysis to replicate the vowels /a/, /e/, /i...

... such as swing leg dynamics or kinematic and actuation limits. In this study, the formulation of capturability for whole-body humanoid robots is introduced as a partition-based approach in the augmented center-of-mass (COM)-state space. The 1-step capturable boundary is computed from an optimization-based method...

... parasitic motion, with the coupling degree k being equal to zero. Second, the kinematic and dynamic performances of the 3DOF 2T1R PM are analyzed, including symbolic forward position solutions based on its topological characteristics, the workspace based on both the forward and inverse position solutions...

...-static models are derived from the geometrico-static model and they allow to express the singularity conditions of the R- Min robot. An analysis of the singularity loci is carried out among the robot’s workspace. A controller based on the dynamic model is proposed and experimentally validated...

.... In this paper, a dynamics model of the elastic tendon-driven manipulator (ETDM) that considers motion coupling is established. A hierarchical sliding mode control (HSMC) method is proposed to realize the trajectory tracking control of the ETDM. On the basis of the Lyapunov design method, the actuator subsliding...

... and P 8 of the object base with the friction zone b , end —loss of contact between the object and the friction zone a , p 3,7 —initiation of contact of the remaining corners P 3 and P 7 of the object base with the friction zone b . These contacts generate dynamic responses...

...Mingxiang Ling; Hao Zhou; Liguo Chen The kinetostatic and dynamic formulation of planar-compliant mechanisms is investigated by making use of the dynamic stiffness method based on Timoshenko beam theory. This research is prompted by the significance of considering both the shear deformation...

...Fanyi Guo; Zhili Sun; Shengnan Zhang; Runan Cao; Haiyang Li To rapidly analyze the dynamic characteristics of a compliant stroke amplification mechanism (CSAM) with completely distributed compliance, an analytical model based on the dynamic stiffness matrix with consideration of the damping effect...

... ournal of M echanisms and R obotics . 12 04 2022 04 10 2022 07 10 2022 25 11 2022 dynamics theoretical kinematics Cartesian stiffness and/or impedance control establishes a mass–damper–spring relationship between the end-effector and the reference frame [ 1 – 4...

... of the body is also considered in the center of mass (CoM) model. The terrain deformation is modeled using a spring-damper contact model, and based on the rigid body dynamics of the NIP, its motion is generated. The energy analysis of the system provides the regions of possible foot placement. Based...

...Jinlu Ni; Jiangping Mei; Yabin Ding; Dongxing Yu; Yunrui Duan; Yuxin Le By considering both motion smoothness and dynamic stress, a trajectory planning method for delta robots, with the goal of determining the two optimal normalized time factors that dominate the motion path in operation space...

... echanisms and R obotics . 11 10 2021 26 07 2022 26 07 2022 10 11 2022 bio-inspired design control dynamics Snake robot, inspired by the natural movement of snakes, has gained increasing attention in the field robot domain. Unlike traditional wheeled robots, snake...

...Fabian A. Lara-Molina This paper presents a novel approach to obtain the dynamic model of flexible-link manipulators based on the stochastic finite element method. The links and elements of flexible manipulators are affected by uncertainties. The main sources of uncertainties include the variation...

... for the tracking tasks.” Again, this statement incorrectly suggests that ISS and Lagrange stabilities are equivalent. The paper [ 1 ] does not include the error dynamics required for computing the time derivative of the Lyapunov functions. Lanari's work [ 2 , 3 ] includes several options while Ref. [ 1 ] does...

... of KRPMs with a reconfigurable platform is introduced. The dynamic equations of motion are derived. Then, a neural network approach is used for the motion planning of a manipulator in the new class. The multilayer perceptron-based neural network (MLP) is used for training data. The results show...

... for friction stir welding. The dynamic model of the 3-DOF redundant parallel manipulator with four kinematic chains is derived by using the principle of virtual work. The solution of the dynamics is not unique, and the range of four actuator torques constitutes a 4D generalized rectangle. A torque optimization...