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RISSingularity-Free Lie Group Integration and Geometrically Consistent Evaluation of Multibody System Models Described in Terms of Standard Absolute Coordinates
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A classical approach to the multibody systems (MBS) modeling is to use absolute coordinates, i.e., a set of (possibly redundant) coordinates that describe the absolute position and orientation of the individual bodies with ...
Dynamics Modeling of Topologically Simple Parallel Kinematic Manipulators: A Geometric Approach
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Dynamics modeling is indispensable for the design and control of dexterous parallel kinematic manipulators/machines (PKM). Various modeling approaches proposed in the literature build upon the classical formulations for ...
Fourth-Order Accurate Strain-Parameterized Shape Representation of Beam Elements for Modeling Continuum Robots and Robotic Manipulation of Slender Objects
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Soft rods and tubular elements are the main building blocks of continuum robots. Kinetostatic models along with a geometrically exact description of the kinematics on SE(3) are now an established foundation for simulation ...
Coordinate Mappings for Rigid Body Motions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Geometric methods have become increasingly accepted in computational multibody system (MBS) dynamics. This includes the kinematic and dynamic modeling as well as the time integration of the equations of motion. In particular, ...
Higher-Order Analysis of Kinematic Singularities of Lower Pair Linkages and Serial Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Kinematic singularities of linkages are configurations where the differential mobility changes. Constraint singularities are critical points of the constraint mapping defining the loop closure constraints. Configuration ...
A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A motion of a mechanism is a curve in its configuration space (c-space). Singularities of the c-space are kinematic singularities of the mechanism. Any mobility analysis of a particular mechanism amounts to investigating ...
Identification of Real and Complex Solution Varieties and Their Singularities Defined by Loop Constraints of Linkages Using the Kinematic Tangent Cone
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The configuration space (c-space) of a mechanism is the real-solution variety of a set of loop closure constraints, which is therefore the chief object in kinematic analysis. Singularities of this variety (referred to as ...
Special Issue: Geometric Methods and Formulations
Publisher: The American Society of Mechanical Engineers (ASME)
Resolution Dependence of the Tropopause Inversion Layer in an Idealized Model for Upper-Tropospheric Anticyclones
Publisher: American Meteorological Society
Abstract: This note investigates the dependence of the extratropical tropopause inversion layer (TIL) on numerical resolution in an idealized modeling framework. Axisymmetric upper-tropospheric anticyclones are constructed by ...
A Supervised Machine Learning Approach for Intelligent Process Automation in Container Logistics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Process control in manufacturing industries usually lacks flexibility and adaptability. The process planning is traditionally pursued within the production scheduling and then remains unchanged until a major overhaul is ...