Abstract: Robotic flat-end milling of complex surfaces offers advantages such as high flexibility and high machining efficiency. In the process of planning the toolpath based on the cutter contact path, the robot functional redundancy ...

Abstract: This paper provides an improvement of classic Montana's contact kinematics equations considering non-orthogonal object parameterizations. In Montana's model, the reference frame used to define the relative motion between ...

Abstract: The dynamic modeling of multibody system is crucial in motion simulations, design, and control of mechanisms. This paper proposes a Hamiltonian formulation on manifolds for mechanism modeling which involves three key steps: ...

Abstract: Industrial robots have become a suitable alternative to machine tools due to their flexibility, low cost, and large working space. However, the compliance of the robot system makes it prone to produce large deformations ...

Abstract: This paper presents a timedomain approach for a semianalytical prediction of stability in milling using the Legendre polynomials. The governing equation of motion of milling processes is expressed as a delaydifferential ...

Abstract: This paper presents a semianalytical numerical method for surface location error (SLE) prediction in milling processes, governed by a timeperiodic delaydifferential equation (DDE) in statespace form. The time period is ...

Abstract: In this paper, we propose a novel passive parallel continuum ankle exoskeleton that can provide assistive torque during ankle plantar flexion. Due to the flexible branches arranged in compliance with ankle motion and shape, ...

Abstract: Redundantly actuated parallel manipulators with two rotations and one translation (2R1T RAPMs) have the potential for machining complex surfaces, where a large orientation workspace and high stiffness are required. Considering ...

Abstract: Variational integrators play a pivotal role in the simulation and control of constrained mechanical systems. Current Lagrange multiplier-free variational integrators for such systems are concise but inevitably face issues ...

Abstract: Fly cutting is widely used in manufacturing of large-scale, high-precision optical components. However, the discontinuity of fly cutting machining leads to significant relative vibrations between the tool and the workpiece. ...