Titlebook: Advances in Robot Kinematics 2022; Oscar Altuzarra,Andrés Kecskeméthy Conference proceedings 2022 The Editor(s) (if applicable) and The Au

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书目名称Advances in Robot Kinematics 2022被引频次学科排名




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书目名称Advances in Robot Kinematics 2022读者反馈学科排名

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On Origami-Like Quasi-mechanisms with an Antiprismatic Skeletonl, we generalize Wunderlich’s trisymmetric sandglass polyhedron in analogy to the generalization of the Jessen orthogonal icosahedron to Milka’s extreme birosette structures, with the additional feature that the belt is developable into the plane as the Kresling pattern. Within the resulting 2-dimen

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Line-Point Constraints and Robot Surgeryd to robot surgery where a straight, rigid cannula is inserted into the patient through a trocar. A surgical robot manipulates the cannula so the insertion point is fixed. The space of displacements determined by a pair of these constraints is also studied briefly. This correspond to a pair cannulas

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Geometry Based Analysis of 3R Serial Robotstanding the inverse kinematic model (IKM) as well as the singularities in the joint space and in the workspace. In this article, we revisit the geometrical interpretation of the IKM with conics. The conditions of getting different conics and their implication on singularities are discussed and the o

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6R Linkages with Hidden Singularitiesas its instantaneous mobility changes, but in contrast to c-space singularities, like bifurcations or cusps, these kinematic singularities are not reflected in the c-space. They are therefore called .. Very few publications have addressed the analysis of hidden singularities. Recent research, employ

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Best Operation Regions in a Planar Cable Driven Systemopic force at all the discrete points within the manipulator’s workspace. The proposed method is based on the obtention of four vectorial subspaces in which a new mathematical closed-form solution proposed by the authors is applied in order to obtain the maximum isotropic force generated for each ve