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pro vyhledávání: '"Nigatu, Hassen"'
This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3-PRS Parallel Kinematics Machines, which are among the most extensively researched and viably successful manipulators for precision machining applications. De
Externí odkaz:
http://arxiv.org/abs/2405.08418
Autor:
Nigatu, Hassen
This study presents a comparison between the Sprint Z3 and A3 head parallel kinematics machines, distinguished by their joint sequence. The analysis focuses on performance attributes critical for precision machining specifically, parasitic motion, wo
Externí odkaz:
http://arxiv.org/abs/2404.18575
Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making widespread appl
Externí odkaz:
http://arxiv.org/abs/2403.12502
Theoretical Modeling and Bio-inspired Trajectory Optimization of A Multiple-locomotion Origami Robot
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these compliant rob
Externí odkaz:
http://arxiv.org/abs/2403.12471
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point, making them
Externí odkaz:
http://arxiv.org/abs/2403.03505
Autor:
Nigatu, Hassen, Kim, Doik
Publikováno v:
\cite{Nigatu2023}
This paper presents the workspace optimization of one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. The mixed degrees of freedom of 1T2R parallel manipulators, which cause di
Externí odkaz:
http://arxiv.org/abs/2311.00952
Autor:
Nigatu, Hassen, Kim, Doik
This paper proposes a new methodology for deriving a point-based dimensionally homogeneous Jacobian, intended for performance evaluation and optimization of parallel manipulators with mixed degrees of freedom. Optimal manipulator often rely on perfor
Externí odkaz:
http://arxiv.org/abs/2310.17863
Publikováno v:
In Mechanism and Machine Theory October 2021 164
Akademický článek
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Autor:
Nigatu, Hassen, Yihun, Yimesker
Publikováno v:
Computational Kinematics Proceedings of the 7th International Workshop on Computational Kinematics
Computational Kinematics Proceedings of the 7th International Workshop on Computational Kinematics, Zeghloul Romdhane Laribi, 2020, pp.242-252. ⟨10.1007/978-3-030-43929-3_22⟩
Computational Kinematics Proceedings of the 7th International Workshop on Computational Kinematics, Zeghloul Romdhane Laribi, 2020, pp.242-252. ⟨10.1007/978-3-030-43929-3_22⟩
International audience; This study presents an algebraic method to detect, count, and identify concomitant motions of parallel robots at the velocity level. The pose and orientation of moving platform of parallel manipulators (PMs) with f-DOF could b
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::91f3bd38231b7cff09c6a46de25d6c72
https://hal.archives-ouvertes.fr/hal-03233161
https://hal.archives-ouvertes.fr/hal-03233161