... . 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...

...Shengchang Fang; Guisong Chen; Yitong Zhou; Xiaojie Wang Climbing robots have gained significance in hazardous and steep terrains, yet adapting to complex environments remains a challenge. Inspired by nature's climbers, this paper introduces a climbing dynamics model that integrates foot-end...

... of M echanisms and R obotics . 09 11 2023 19 01 2024 23 01 2024 28 02 2024 Graphical Abstract Figure kinematic calibration parallel robot multi-DOF joint model product of exponentials kinematics dynamics and control of mechanical systems Nowadays...

... be significantly accelerated by prioritizing easier-to-test constraints over more complex ones. This approach was demonstrated on a precision throwing task involving a 6-DOF industrial manipulator with various obstacles in its path. Moreover, the principle of dynamic sensitivity was employed to enhance...

... echanisms and R obotics . 31 08 2023 11 01 2024 12 01 2024 27 02 2024 Graphical Abstract Figure reducer gearless ball precession motion orthogonal-axis groove on outer spherical surface kinematics dynamics and control of mechanical systems mechanism design...

... Committee of ASME for publication in the J ournal of M echanisms and R obotics . 23 03 2023 19 12 2023 22 12 2023 05 02 2024 compliant mechanisms kinematics dynamics and control of mechanical systems mechanism synthesis and analysis microscale mechanisms and robotics...

...Paulo R. G. Kurka; Victor A. S. M. Paiva; Luis H. Silva-Teixeira; Paola G. Ramos; Jaime H. Izuka Most studies regarding models of tensegrity systems miss the possibility of large static deformations or provide elaborate and lengthy solutions to determine the system dynamics. Contrarily, this work...