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Variational Integrators on Manifolds for Constrained Mechanical Systems
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...
A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...