Titlebook: Advances in Robot Kinematics 2024; Jadran Lenar?i?,Manfred Husty Conference proceedings 2024 The Editor(s) (if applicable) and The Author(

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A Generalization of the Bresse Properties in Higher-Order Kinematics, isomorphism with rotation group of planar motion and the group of unit algebra of the complex number. The equations that allow the determination of higher-order accelerations and his properties field are given. A generalization for high order classical Bresse circles is presented for the first time

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Inherently Balanced Spherical Pantograph Mechanisms,presented, which are a balanced general spherical pantograph, a balanced double spherical pantograph and a double S-shaped mechanism with surrounding 4R four-bar linkage. Also variations of the balanced designs are presented. As compared to the planar balanced pantograph, the same underlying system

小淡水魚

,Finding the?Common Tangents to?Four Spheres via?Dimensionality Reduction,g the problem onto a subspace. Although, in general, this operation does not provide a significant advantage, when parallelism or alignment constraints must be enforced, a proper projection results in an important simplification. This is the case when computing the common tangents to four spheres in

Blatant

,A Sch?nflies Motion Generator Actuated by?Four In-Parallel Sliding Joints with?a?Single Mobile Platecture admits a long and narrow workspace that is adaptive to the pick-and-place operations. This unique structure can ease the kinematic modeling and singularity identification. The dexterity and singularity analysis is carried out, where a singularity-free workspace with high rotational capability

北極人

,Compound Cable-Driven Parallel Robot for?a?Larger Wrench-Feasible Workspace,trained planar cable-driven parallel robot (CDPR). The main objective of the proposed solution is twofold: (i)?to allow reaching areas near and even beyond its frame and (ii)?to provide stiffness modulation for safe human interaction. The tensegrity mechanism embedded on the MP is an anti-parallelog

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,Hierarchy Control of?Dual-Arm Concentric Tube Continuum Robots with?Different Redundancy Resolutionging through a single cannula. This innovative approach presents several challenges related to a smaller workspace and visual field of view. Previous works on Dual-Arm Concentric Tube Continuum Robots (DACTCR) aimed to enhance SP systems by increasing autonomy in a specific surgical subtask, thus si

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,Actuated In-Operation-Reconfiguration of?a?Cable-Driven Parallel Robot with?a?Gradient Descent Apprcations may avoid CDPRs due to drawbacks such as potential cable collisions. To improve the usability of CDPRs, the fixed frame anchors can be mounted on reconfiguration axes. This results in more complex kinematics that are challenging to control. This paper introduces a gradient descent approximat

CROW

,Design and?Control of?a?Climbing Robot for?Warehouse Automation,tly, static, and present a single point of failure. These systems hinder rapid changes in response to evolving needs and are prohibitively costly for small to medium enterprises. Autonomous robotic systems offer a promising solution for enabling free movement and storage of materials in 3 dimensions

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,On a?Software Joint Velocity Limitation of?a?Spherical Parallel Manipulator with?Coaxial Input Shaface properties of the mechanism and the physical characteristics of its actuators. In particular, one takes advantage of the coaxiality of the input shafts of the CoSPM and the resulting unlimited bearing.