... control of the TSM is challenging due to its shape-dependent deformation and force generation, highlighting the need to address shape variations in dynamic environments where direct measurement is impractical. This article introduces a novel methodology leveraging the concept of the equivalent circle...

... with visual servoing control for instance. In the general context of multibody dynamics, the shape representation is also relevant in the area of flexible multibody dynamics in general [ 29 – 31 ]. Interpolation of the beam deflection is a purely kinematic problem defined by the boundary conditions...

... kinematics dynamics and control of mechanical systems mechanisms and robots motion and manipulation planning Singapore University of Technology and Design 10.13039/501100007040 RTDST230617 In recent years, legged robots’ capabilities have increased significantly [ 1 – 3 ]. Now...

... kinematic criteria moment-based method industrial robots data-enabled analysis of mechanical systems and robots kinematics dynamics and control of mechanical systems mechanisms and robots multi-robot systems National Natural Science Foundation of China 10.13039/501100001809 Grant Nos...

... and R obotics . 24 01 2024 27 09 2024 27 09 2024 01 11 2024 cooperative object transport multi-robot systems non-contact mechanisms magnetic pushing leader–follower formation kinematics dynamics and control of mechanical systems mechanisms and robots...

.... Therefore, having a fully articulated arm on top of a legged robot is kinematically redundant. Fig. 1 State-of-the-art six-DoF robotic arm mounted on Boston Dynamics Spot. The arm weighs 8 kg and, when mounted on Spot in, can only lift 25% of the total platform weight. State-of-the-art six-DoF...

... . 07 11 2023 12 07 2024 15 07 2024 20 09 2024 Email: zhiguangx_hit@163.com Email: yangguoguo@math.pku.edu.cn Email: wangpengyuan329@163.com Email: wuhuzhengzheng@126.com 1 Corresponding author. Email: zhaojianwen@hit.edu.cn kinematics dynamics...

...Sunil Gora; Shakti S. Gupta; Ashish Dutta Gait generation of a humanoid robot on a deformable terrain is a complex problem as the foot and terrain interaction and terrain deformation have to be included in the dynamics. To simplify the dynamics of walk on deformable terrain, we used a spherical...

... a broad range of biological species including cockroaches, quail, and kangaroo and found that a large majority of legged systems have a non-dimensional stiffness within a range of 7–27 [ 8 ]. This observational study concluded that the dynamics of these legged systems could be well approximated...

.... The dynamics model of the overall system is then derived, and a sensitivity analysis is performed over a finite number of different trajectories, in order to evaluate the quasi-static assumption, the effects of the model, and the influence of the elastic constraint. Finally, experiments have been performed...

...A. Ghoul; S. Djeffal; H. Wang; K. Kara; M. L. Hadjili This paper tackles the challenges encountered in surgical continuum robotics by introducing a dynamic model tailored for a cable-driven continuum robot. The intricacies of dynamic modeling and control frequently lead to suboptimal outcomes...

.... Second, the kinematics of the new deployable mast mechanism is established based on its structural symmetry and modular features. Third, the deploying dynamics of the new mechanism are built based on the Lagrange equation. Fourth, the deployed/folded ratio, interference, and singularity of the new...

... reconfigurable closed-chain leg, allowing for flexible trajectory by adjusting the length of the hydraulic cylinder. Kinematic model and system dynamics are analyzed considering the multi-body dynamics of the proposed system. To actively adapt to different terrains with flexible footprints, a variable-domain...

...Sekar Anup Chander; Ashutosh Mukherjee; Vhatkar Dattatraya Shivling; Ashish Singla Euler–Lagrange's formulation is known for its systematic and simplified approach to deriving dynamics of complex systems. In order to apply the existing formulation to human gait dynamics, the base reference frame...

.... Zeghloul , L. Romdhane , and M. A. Laribi , eds., Springer International Publishing , Cham , pp. 190 – 197 . [33] Gagliardini , L. , Gouttefarde , M. , and Caro , S. , 2016 , “ Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots ,” 15th...

... and dynamic equations, conducting finite element analysis on critical components, and testing a completed prototype. A metaheuristic optimization method was employed to derive optimal design parameters, focusing on optimizing the arm length of the connectors while maximizing dynamic performance...

... swimming mechanism, which is compounded with the locomotion modes of sway and yaw. The kinematic and dynamic models are established to study the locomotion mechanism of the oscillating fin. The hydrodynamic performance of underwater locomotion is investigated to analyze the velocity, the propulsive force...

...Frederik Ostyn; Bram Vanderborght; Guillaume Crevecoeur Collisions at high-speed can severely damage robots with non-backdrivable drivetrains. Adding an overload clutch in series can improve the robot’s collision tolerance without compromising its high dynamic performance. This paper aims...

... } . Thus, rank is 5 at the one-dimensional complex solution branches, while rank is 3 only at q 0 . kinematics dynamics control of mechanical systems mechanism design mechanism synthesis and analysis parallel mechanisms and robots theoretical and computational kinematics...

..., payload capacity, and dynamic stability of the robot. This study aimed to investigate the stiffness analysis of tendon-driven supportive-type CCRs (S-CCRs). For this purpose, first, a generalized framework for the dynamic mathematical formulation and numerical solution of S-CCRs was proposed...