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Deformation-induced coupling of the generalized external actions in third-gradient materials
In this study, diverse typologies of external actions are outlined, which turn out to be admissible for the third-gradient modeling of elastic...
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Input-Constrained Hybrid Control of a Hyper-Redundant Mobile Medical Manipulator
To reduce the risk of infection in medical personnel working in infectious-disease areas, we proposed a hyper-redundant mobile medical manipulator...
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Analytical derivatives of flexible multibody dynamics with the floating frame of reference formulation
In this paper, the analytical derivatives of flexible multibody dynamics with the floating frame of reference formulation are derived in a new way...
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Forward Kinematics and Singularity Analysis of an Adjusted-DOF Mechanism
Modular robots are develo** towards homogeneity, and the application of modular robots is tending to be distributed. The above work needs to be...
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Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom
The current parallel ankle rehabilitation robot (ARR) suffers from the problem of difficult real-time alignment of the human-robot joint center of...
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Inverse Kinematics Analysis of Welding Robot IRB 1520ID Using Algorithm for Adjusting the Increments of Generalized Vector
This paper focuses on presenting an algorithm for adjusting the increments of generalized vector to solve the inverse kinematics problem of welding...
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A Comparison of Matrix-Free Isogeometric Galerkin and Collocation Methods for Karhunen–Loève Expansion
Numerical computation of the Karhunen–Loève expansion is computationally challenging in terms of both memory requirements and computing time. We...
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Velocity Kinematics
Velocity analysis of a robot is divided into forward and inverse velocity kinematics. Having the time rate of joint variables and calculating the...
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Sensitivity of Trapped Stiff Layer in the Field Acquisition of Rayleigh Wave Using MASW
Vertical component acquisition of Rayleigh wave is the most widely used technique for multichannel analysis of surface wave (MASW). Dispersion...
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Configuration Synthesis of Tetrahedral Mechanisms Containing P and S Pairs
Tetrahedral mechanisms are mechanisms whose architectures constructed based on tetrahedron. Take the vertex as a ternary link, and the edge as a...
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Hybrid Phase Synchronization for Generalized Stretch, Twist, Fold Flow Chaotic System of Fractional Order
Secure communication is essential in all fields in our day to life. While the communication, the error occurs due to some circumstance. To rectify...
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Hierarchical motion planning at the acceleration level based on task priority matrix for space robot
This paper addresses the motion planning problem for a free-floating redundant space robotic system at the acceleration level considering the strict...
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Task-Space Admittance Controller with Adaptive Inertia Matrix Conditioning
Whenrobots physically interact with the environment, compliant behaviors should be imposed to prevent damages to all entities involved in the...
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Posture adjustment method of large aircraft components based on multiple numerical control positioners
In the digital assembly system of large aircraft components (LAC), multiple numerical control positioners (NCPs) are usually used as actuators to...
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Dynamic Modelling and Analysis of Flexible Structure Actuated by Dielectric Elastomer
Soft robot is one of the current research hotspots. As the main driving component, flexible joint plays a vital role in the actuating performance of...
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Chaotic dynamics analysis of double inverted pendulum with large swing angle based on Hamiltonian function
In this paper, the chaotic dynamics of double inverted pendulum with big swing angle is studied based on the Hamiltonian canonical equation. At the...
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Kinematics of a three-legged 1R2T decoupled parallel manipulator
In this work, the kinematics of a three degrees of freedom parallel manipulator able to execute two independent translations and one independent...
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Inverse Kinematics and Dynamics of a 3RRR Planar Parallel Manipulator in the Presence of Singularities
The analysis of inverse kinematics and dynamics plays an important role in the design and control of parallel manipulators. At singular...
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Application of the generalized body-fixed coordinate system for the wave-body interaction problem of a small-depth elastic structure in head seas
The body-fixed coordinate system is applied to the wave-body interaction problem of a small-depth elastic structure which has both rigid and elastic...
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A novel method to minimize the five-axis CNC machining error around singular points based on closed-loop inverse kinematics
Singularities in five-axis machining are a series of positions where the exact motion of the rotary axis becomes unpredictable or incalculable. In...
