736 research outputs found
Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations
We propose a novel design of a parallel manipulator of Stewart Gough type for
virtual reality application of single individuals; i.e. an omni-directional
treadmill is mounted on the motion platform in order to improve VR immersion by
giving feedback to the human body. For this purpose we modify the well-known
octahedral manipulator in a way that it has one degree of kinematical
redundancy; namely an equiform reconfigurability of the base. The instantaneous
kinematics and singularities of this mechanism are studied, where especially
"unavoidable singularities" are characterized. These are poses of the motion
platform, which can only be realized by singular configurations of the
mechanism despite its kinematic redundancy.Comment: 13 pages, 6 figure
Perturbations of the local gravity field due to mass distribution on precise measuring instruments: a numerical method applied to a cold atom gravimeter
We present a numerical method, based on a FEM simulation, for the
determination of the gravitational field generated by massive objects, whatever
geometry and space mass density they have. The method was applied for the
determination of the self gravity effect of an absolute cold atom gravimeter
which aims at a relative uncertainty of 10-9. The deduced bias, calculated with
a perturbative treatment, is finally presented. The perturbation reaches (1.3
\pm 0.1) \times 10-9 of the Earth's gravitational field.Comment: 12 pages, 7 figure
Pose, posture, formation and contortion in kinematic systems
The concepts of pose, posture, formation and contortion are defined for serial, parallel and hybrid kinematic systems. Workspace and jointspace structure is examined in terms of these concepts. The inter-relationships of pose, posture, formation and contortion are explored for a range of robot workspace and jointspace types
Rotation symmetry axes and the quality index in a 3D octahedral parallel robot manipulator system
The geometry of a 3D octahedral parallel robot manipulator system is specified in terms of two rigid octahedral structures (the fixed and moving platforms) and six actuation legs. The symmetry of the system is exploited to determine the behaviour of (a new version of) the quality index for various motions. The main results are presented graphically
Probabilistic analysis of the upwind scheme for transport
We provide a probabilistic analysis of the upwind scheme for
multi-dimensional transport equations. We associate a Markov chain with the
numerical scheme and then obtain a backward representation formula of
Kolmogorov type for the numerical solution. We then understand that the error
induced by the scheme is governed by the fluctuations of the Markov chain
around the characteristics of the flow. We show, in various situations, that
the fluctuations are of diffusive type. As a by-product, we prove that the
scheme is of order 1/2 for an initial datum in BV and of order 1/2-a, for all
a>0, for a Lipschitz continuous initial datum. Our analysis provides a new
interpretation of the numerical diffusion phenomenon
Workspace Analysis of a 4 Cable-Driven Spatial Parallel Robot
International audienceThis paper presents the static equilibrium workspace of an under-constrained cable-driven robot with four cables taking into account the forces and the moments due to the forces acting on the moving platform. The problem is formulated as a non-linear optimization problem with maintaining static equilibrium as the objective function. The simulations are done using MATLAB. The maximum force on the cables and tilting angle of the platform are used to define the feasible static equilibrium workspace and the results obtained are used to finalize the design of the collaborative cable-driven robot to be installed in existing production lines for the agile handling of parts in a manufacturing industry
The electric double layer has a life of its own
Using molecular dynamics simulations with recently developed importance
sampling methods, we show that the differential capacitance of a model ionic
liquid based double-layer capacitor exhibits an anomalous dependence on the
applied electrical potential. Such behavior is qualitatively incompatible with
standard mean-field theories of the electrical double layer, but is consistent
with observations made in experiment. The anomalous response results from
structural changes induced in the interfacial region of the ionic liquid as it
develops a charge density to screen the charge induced on the electrode
surface. These structural changes are strongly influenced by the out-of-plane
layering of the electrolyte and are multifaceted, including an abrupt local
ordering of the ions adsorbed in the plane of the electrode surface,
reorientation of molecular ions, and the spontaneous exchange of ions between
different layers of the electrolyte close to the electrode surface. The local
ordering exhibits signatures of a first-order phase transition, which would
indicate a singular charge-density transition in a macroscopic limit
Self-Motions of General 3-RPR Planar Parallel Robots
This paper studies the kinematic geometry of general 3-RPR planar parallel
robots with actuated base joints. These robots, while largely overlooked, have
simple direct kinematics and large singularity-free workspace. Furthermore,
their kinematic geometry is the same as that of a newly developed parallel
robot with SCARA-type motions. Starting from the direct and inverse kinematic
model, the expressions for the singularity loci of 3-RPR planar parallel robots
are determined. Then, the global behaviour at all singularities is
geometrically described by studying the degeneracy of the direct kinematic
model. Special cases of self-motions are then examined and the degree of
freedom gained in such special configurations is kinematically interpreted.
Finally, a practical example is discussed and experimental validations
performed on an actual robot prototype are presented
Performance evaluation of parallel manipulators for milling application
This paper focuses on the performance evaluation of the parallel manipulators
for milling of composite materials. For this application the most significant
performance measurements, which denote the ability of the manipulator for the
machining are defined. In this case, optimal synthesis task is solved as a
multicriterion optimization problem with respect to the geometric, kinematic,
kinetostatic, elastostostatic, dynamic properties. It is shown that stiffness
is an important performance factor. Previous models operate with links
approximation and calculate stiffness matrix in the neighborhood of initial
point. This is a reason why a new way for stiffness matrix calculation is
proposed. This method is illustrated in a concrete industrial problem
Perturbation of symmetric 3-RPR manipulators and asymptotic singularities
International audienceSmall perturbations can affect the kinematic properties of manipulators with non-generic architecture. We study in this paper the perturbations of symmetric planar 3-RPR manipulators. We show in particular that one can obtain any of the three possible stable types of behaviour of 3-RPR manipulators for large values of the lengths of the legs
- …