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On an objective, geometrically exact coupling element for a director-based multi-body finite element framework
In multi-body systems, flexible components and couplings between them can be subject to large displacements and rotations. This contribution presents...
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Analytic Formulation of Kinematics for a Planar Continuum Parallel Manipulator with Large-Deflection Links
This paper presents the analytic formulation of kinematics for a planar continuum parallel manipulator with large-deflection links. This development...
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Fully Automatic Visual Servoing Control for Underwater Vehicle Manipulator Systems Based on a Heuristic Inverse Kinematics
The use of underwater vehicle manipulator systems (UVMS) equipped with cameras has gained significant attention due to their capacity to perform...
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New fluid kinematics
Fluid kinematics describes the fluid motion without consideration of any force. Classical fluid kinematics adopts Helmholtz velocity decomposition,...
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Advances in Robot Kinematics Facts and Thoughts
ARK, Advances in Robot Kinematics, has certainly left an important mark. Many top-notch robotics specialists regularly attended the symposia and...
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Inverse Kinematics of High Dimensional Robotic Arm-Hand Systems for Precision Gras**
Conventionally, the arm and the hand are considered separately for robotic manipulation and grasp. The hand configuration and the wrist pose are...
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Angular Momentum in a Special Nonlinear Elastic Rod
In the constrained Cosserat theory of a rod with a rigid cross-section, the balance of angular momentum is satisfied by a restriction on the...
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An isogeometric finite element formulation for frictionless contact of Cosserat rods with unconstrained directors
This paper presents an isogeometric finite element formulation for nonlinear beams with impenetrability constraints, based on the kinematics of...
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An isogeometric degenerated shell formulation for geometrically nonlinear analysis of smart laminated shells
The geometrically nonlinear solution of laminated and piezolaminated shells with the isogeometric method (IGA) is the subject of this paper. Usage of...
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A Fault-tolerant Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator With Uncertainties and Actuator Faults
This paper proposes a novel fault-tolerant synchronous sliding mode control for a 4-DOF parallel manipulator against uncertainties such as modelling...
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A simple geometrically exact finite element for thin shells—Part 1: statics
This paper presents a new triangular nonlinear shell finite element with a novel kinematic model suitable for simulation with large displacements and...
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Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator
This paper focuses on investigating a parallel camera stabilizing manipulator with three angular degrees of freedom controlled by three linear...
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Energy–momentum integration and analysis for sliding contact coupling dynamics in large flexible multibody system
This paper studies the energy–momentum conserving integration for large flexible dynamic systems combining the node-to-element sliding contact pair,...
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Homogenization assumptions for the two-scale analysis of first-order shear deformable shells
This contribution presents a multiscale approach for the analysis of shell structures using Reissner–Mindlin kinematics. A distinctive feature is...
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Modeling and Coordinated Control of Multiple Mobile Manipulators with Closed-chain Constraints
This study deals with the kinematics modeling and corresponding controller design for multiple mobile manipulators to achieve tightly cooperative...
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Standard gradient models and application to continuum damage in shell structures
The present paper deals with a gradient damage modeling framework for the case of general shell structures. The particularity of this formulation is...
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A Visual Servo Controlled Robotic System for MRI-guided Breast Biopsy
Achieving high repetitive accuracy and operation uniformity of small lesion targeting are the main challenges in robot-assisted procedures of...
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Towards Optimal Dynamic Localization for Autonomous Mobile Robot via Integrating Sensors Fusion
When it comes to optimal dynamic localization, high accuracy and robustness localization is the main challenge for the autonomous mobile robot. In...
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Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles
Based on Lie group theory and the integration of configuration, a class of 3 T 2 R ( T denotes translation and R denotes rotation) parallel mechanisms...
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Design and Optimization of a Control Framework for Robot Assisted Additive Manufacturing Based on the Stewart Platform
Additive manufacturing, also known as 3D printing, is an emerging technology. The existing additive manufacturing technologies deploy a 3-axis...