Equilibrium Configurations of Compliant Tensegrity Mechanism Based on Planar Dual-Triangles

Autor: Wanda Zhao, Anatol Pashkevich, Alexandr Klimchik, Damien Chablat

Publikováno v: Informatics in Control, Automation and Robotics ISBN: 9783030924416
Lecture Notes in Electrical Engineering LNEE
Lecture Notes in Electrical Engineering LNEE, 2021

International audience; The paper deals with the equilibrium configurations and their stability study of a new type of compliant tensegrity mechanism based on dualtriangle structures, which actuated by adjusting elastic connections between the triang

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8564f4799a42e1f07bdd0774fd8d1e7f
https://doi.org/10.1007/978-3-030-92442-3_17

Kinematic Control of Compliant Serial Manipulators Composed of Dual-Triangles

Autor: Anatol Pashkevich, Alexandr Klimchik, Wanda Zhao, Damien Chablat

Publikováno v: ICCCR 2021 : International Conference on Computer, Control and Robotics
ICCCR 2021 : International Conference on Computer, Control and Robotics, Jan 2021, Shanghai, China. pp.93-97, ⟨10.1109/ICCCR49711.2021.9349285⟩

The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the stability of

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f78212bc227f0ef6176fad9f9e8d4bb7
https://doi.org/10.1109/icccr49711.2021.9349285

The Stability and Stiffness Analysis of a Dual-Triangle Planar Rotation Mechanism

Autor: Anatol Pashkevich, Damien Chablat, Alexandr Klimchik, Wanda Zhao

Publikováno v: ASME 2020 : International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
ASME 2020 : International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2020, Virtual, United States. ⟨10.1115/DETC2020-22076⟩

The paper deals with the stiffness analysis and stability study of equilibrium configurations for dual-triangle tensegrity mechanism, which is actuated by adjusting elastic connections between the triangle edges. For this mechanism, the torque-deflec

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::6212a2be47a1eb69e69e855ec95e196e
https://hal.archives-ouvertes.fr/hal-03147414/file/asme_final_version_hal.pdf

Analyse, conception et commande de mécanismes de tenségrité et systèmes précontraints : application à l'assistance robotique dans l'IRM

Autor: Boehler, Quentin

Le contexte de cette thèse est la conception d'assistants robotiques aux gestes chirurgicaux guidés par IRM. Cette conception est rendue délicate par l’environnement qui impose des contraintes de compacité, de légèreté et de compatibilité.

Externí odkaz: http://www.theses.fr/2016STRAD036/document

Analysis, design and control of tensegrity mechanisms and prestressed systems

Autor: Boehler, Quentin

This thesis is focused on the design of robotic assistants for MRI-guided surgeries. This design is submitted to several constraints due to the MR-environment, such as compactness, lightness, or compatibility. Safety issues related to the patient wit

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=od_______166::ff3d88be9450cb120dd6b9c91bb2325b
https://hal.science/tel-01499600