Calculation of the General Number of Imposed Constraints of Kinematic Chains
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In this thesis we contribute to the inverse kinematics solution of serial positional manipulators with three rotational joints (3R). This type of linkage is frequently used for 6R manipulators, where three – mostly the last – joint axes intersect at one po ...
Parallel kinematics structures currently find increasing industrial applications, particularly in packaging and assembly. With very few exceptions, machine-tools with parallel kinematics are limited to mechanisms with three or six degrees of freedom. Moreo ...
The parallel kinematics machine tool HITA-STT (Stiffness Tracking Technology) developed by Willemin–Machines S.A. and EPFL is now able to machine. This machine can reach accelerations of 5g. It is characterized by a tilt of ± 60° around the B-axis. This ch ...
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We present a new method for solving the motion retargeting problem, by using an intermediate skeleton. This allows us to convert movements between hierarchically and geometrically different characters. An inverse kinematics engine is then used to enforce C ...
A new method for the synthesis of cycloisodityrosine atropisomers I (R1 = CO2Me, R2 = NHBoc), a 14-membered m,p-cyclophane, is reported. The synthesis hinged on an efficient macrocyclization procedure for biaryl ether formation based on an intramol. SNAr r ...
We present a posture design paradigm for the positioning of complex characters. It is illustrated here on human figures. We exploit the inverse kinetics technique which allows the center of mass position control for postures with either single or multiple ...
The choice of the drive composition is an obligatory stage in designing a product including electric drives. The large variety of the elements composing the electric drive (electronics, driving and kinematic chain) leads to a quasi-unlimited number of poss ...
In this paper, we present a new method for solving the Motion Retargeting Problem, by using an intermediate skeleton. This allows us to convert movements between hierarchically and geometrically different characters. An Inverse Kinematics engine is then us ...