3 accepted papers
The configuration spaces of parallel manipulators exhibit more nonlinearity than serial manipulators. Qualitatively, they can be seen to possess extra folds. Projection onto smaller spaces of engineering relevance, such as an output workspace or an input actuator space, these folds cast edges that e…
Kinematics is the first consideration in designing the mechanical structures that comprise robots. Of the many subcategories that exist under this umbrella, an often early design goal is to achieve some desired workspace. This goal applies to both single and multi-degree-of-freedom systems. Previous…
Polar linkages have two degrees-of-freedom (DOF) where one input joint angle controls the length of a radial segment while another controls its angle. Considering a theoretical planar robot model, this mapping between joint angles to output motions can be shown to be energetically advantageous over…