Xuan Lin, Gabriel I. Fernandez, S. Ghassemi, D. Hong
Flying typically involves thrust or buoyancy in order to climb in altitude while trying to minimize drag. These setups can result in large, energy-exhaustive mechanisms. This paper presents a novel alternative to the traditional approaches of flying by utilizing aerodynamic drag. Drag can be used as an opposing force needed to lift a load off of the ground. The concept is verified through a series of experiments in which a balloon is used to lift a parachute to a desired height, and then an actuator with a load on the ground retracts a rope connected to the parachute. Aerodynamic drag is translated into a lifting force. This cost-effective, energy efficient, and modular method can increase the mobility of robots, delivery systems etc.
{"title":"Feasibility Study of an Aerial Lifting Device Using Aerodynamic Drag for Ascent","authors":"Xuan Lin, Gabriel I. Fernandez, S. Ghassemi, D. Hong","doi":"10.1115/detc2019-98138","DOIUrl":"https://doi.org/10.1115/detc2019-98138","url":null,"abstract":"\u0000 Flying typically involves thrust or buoyancy in order to climb in altitude while trying to minimize drag. These setups can result in large, energy-exhaustive mechanisms. This paper presents a novel alternative to the traditional approaches of flying by utilizing aerodynamic drag. Drag can be used as an opposing force needed to lift a load off of the ground. The concept is verified through a series of experiments in which a balloon is used to lift a parachute to a desired height, and then an actuator with a load on the ground retracts a rope connected to the parachute. Aerodynamic drag is translated into a lifting force. This cost-effective, energy efficient, and modular method can increase the mobility of robots, delivery systems etc.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128388568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Coupled serial mechanism is a class of mechanisms that couple the relative rotation of successive links utilizing gears or cable-pulley systems. They can be used to generate complex end-effector trajectories or motions with a single actuator. With the employment of Fourier descriptors, a novel approach to integrate type synthesis and dimensional synthesis of such mechanisms is proposed in this paper. Through the Fourier analysis of two arbitrary trajectories from the given motion, the simplest trajectory that contains the least number of harmonic components is identified. Then, characteristic information of those harmonics such as their numbers, amplitudes and initial phases are used to determine the topology and dimensions of the corresponding coupled serial mechanism, thus effectively solving the motion synthesis problem of this type of mechanisms. Finally, three examples are given to demonstrate the validity of the proposed method.
{"title":"A Fourier Descriptor Approach to Integrated Type and Dimensional Synthesis of Coupled Serial Mechanism for Motion Generation","authors":"Hao Lv, Yuanfei Han, Xiangyun Li, Liuxian Zhu","doi":"10.1115/detc2019-97599","DOIUrl":"https://doi.org/10.1115/detc2019-97599","url":null,"abstract":"\u0000 Coupled serial mechanism is a class of mechanisms that couple the relative rotation of successive links utilizing gears or cable-pulley systems. They can be used to generate complex end-effector trajectories or motions with a single actuator. With the employment of Fourier descriptors, a novel approach to integrate type synthesis and dimensional synthesis of such mechanisms is proposed in this paper. Through the Fourier analysis of two arbitrary trajectories from the given motion, the simplest trajectory that contains the least number of harmonic components is identified. Then, characteristic information of those harmonics such as their numbers, amplitudes and initial phases are used to determine the topology and dimensions of the corresponding coupled serial mechanism, thus effectively solving the motion synthesis problem of this type of mechanisms. Finally, three examples are given to demonstrate the validity of the proposed method.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125295241","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Andreas Hansen, Jørgen Møberg Laursen, S. Henriksen, Kasper Ringgaard, Morten Rydahl-Haastrup, O. Balling
This paper considers the problem of calibrating a reconfigurable Stewart-Gough platform for mobile machining applications using partial information measurements. The motivation for the work comes from the wind turbine industry, where cost reduction for machining of large components is desired. In the paper kinematic description of an actual prototype machine, together with description of partial information calibration methods of which simulated and experimental results are shown. Results of the proposed calibration methods, where only positional data of the machine was measured by a laser tracker, showed great improvement of the machine performance. Results from experiments showed achievable positioning tolerances of maximum 65μm after an initial factory calibration, and 146μm for a secondary calibration, where fewer parameters were included to reduce lost machining time during configuration change. Machining tests furthermore indicated that it is possible to continue machining across different configurations.
{"title":"Calibration of Reconfigurable Stewart-Gough Platform for Mobile Machining Application","authors":"Andreas Hansen, Jørgen Møberg Laursen, S. Henriksen, Kasper Ringgaard, Morten Rydahl-Haastrup, O. Balling","doi":"10.1115/detc2019-98137","DOIUrl":"https://doi.org/10.1115/detc2019-98137","url":null,"abstract":"\u0000 This paper considers the problem of calibrating a reconfigurable Stewart-Gough platform for mobile machining applications using partial information measurements. The motivation for the work comes from the wind turbine industry, where cost reduction for machining of large components is desired. In the paper kinematic description of an actual prototype machine, together with description of partial information calibration methods of which simulated and experimental results are shown.\u0000 Results of the proposed calibration methods, where only positional data of the machine was measured by a laser tracker, showed great improvement of the machine performance. Results from experiments showed achievable positioning tolerances of maximum 65μm after an initial factory calibration, and 146μm for a secondary calibration, where fewer parameters were included to reduce lost machining time during configuration change. Machining tests furthermore indicated that it is possible to continue machining across different configurations.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128128685","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Resonance selectivity is a new way to achieve “Single-input Multi-output” (SIMO) system via wireless electromagnetic power transmission. But it is limited to low power and open loop systems. This paper presents a new method that uses the principle of resonance selectivity of which system is close loop and the power is over 10w. By using this method, we drive three DC motors to control a delta robot which is based on flexible linkages with feedback control. In this paper, we achieve the position control of delta robot through SIMO and wireless control. This paper introduces the principle of wireless control based on magnetic coupling resonance and the details about control system, and the fabrication and analysis of delta robot based on flexible linkages. According to the results of our experiment, we demonstrate that this method can be applied to control delta robot.
{"title":"Wireless Power and SIMO Control Based on Magnetic Coupling Resonance Using in Delta Robot","authors":"Jue Wang, Genliang Chen, Hao Wang","doi":"10.1115/detc2019-97174","DOIUrl":"https://doi.org/10.1115/detc2019-97174","url":null,"abstract":"\u0000 Resonance selectivity is a new way to achieve “Single-input Multi-output” (SIMO) system via wireless electromagnetic power transmission. But it is limited to low power and open loop systems. This paper presents a new method that uses the principle of resonance selectivity of which system is close loop and the power is over 10w. By using this method, we drive three DC motors to control a delta robot which is based on flexible linkages with feedback control. In this paper, we achieve the position control of delta robot through SIMO and wireless control. This paper introduces the principle of wireless control based on magnetic coupling resonance and the details about control system, and the fabrication and analysis of delta robot based on flexible linkages. According to the results of our experiment, we demonstrate that this method can be applied to control delta robot.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114629702","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Origami engineering is a promising approach to transforming structures and machines due to its potential for geometric, kinematic, and mechanical complexity. However, actuating this transformation can be expensive, slow, and unreliable. In this paper, we demonstrate repeatable and reversible transformation of a two-vertex origami string between different configurations using a stacked-Miura cell as an actuation system. We characterize the snap-through behavior of the cell and show how the cell can be coupled to the string to generate drive repeatable transformations between different configurations. We then show how gravity can affect this process. The results indicate that bistable origami cells are a promising method for lightweight, repeatable transformation.
{"title":"Dynamic Transformation of an Origami String Using a Stacked-Miura Cell","authors":"Chang Liu, Zwe Min Htet Aung, Samuel M. Felton","doi":"10.1115/detc2019-97435","DOIUrl":"https://doi.org/10.1115/detc2019-97435","url":null,"abstract":"\u0000 Origami engineering is a promising approach to transforming structures and machines due to its potential for geometric, kinematic, and mechanical complexity. However, actuating this transformation can be expensive, slow, and unreliable. In this paper, we demonstrate repeatable and reversible transformation of a two-vertex origami string between different configurations using a stacked-Miura cell as an actuation system. We characterize the snap-through behavior of the cell and show how the cell can be coupled to the string to generate drive repeatable transformations between different configurations. We then show how gravity can affect this process. The results indicate that bistable origami cells are a promising method for lightweight, repeatable transformation.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"486 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115299705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Linkage origami is one effective approach for addressing stiffness and accommodating panels of finite size in origami models and tessellations. However, successfully implementing linkage origami in tessellations can be challenging. In this work, multiple theorems are presented that provide criteria for designing origami units or cells that can be assembled into arbitrarily large tessellations. The application of these theorems is demonstrated through examples of tessellations in two and three dimensions.
{"title":"Regular 2D and 3D Linkage-Based Origami Tessellations","authors":"Alden Yellowhorse, L. Howell","doi":"10.1115/detc2019-97354","DOIUrl":"https://doi.org/10.1115/detc2019-97354","url":null,"abstract":"\u0000 Linkage origami is one effective approach for addressing stiffness and accommodating panels of finite size in origami models and tessellations. However, successfully implementing linkage origami in tessellations can be challenging. In this work, multiple theorems are presented that provide criteria for designing origami units or cells that can be assembled into arbitrarily large tessellations. The application of these theorems is demonstrated through examples of tessellations in two and three dimensions.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133943720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The additive 3D printer (hereafter called Add-3D) creates a 3D object with materials being added together layer by layer. Before printing an object, some professional processes are indispensable, such as creating the 3D printable models by computer-aided design (CAD), or 3D scanner, and STL data modification, which are difficult for normal families. As we know, primordially, origami is the ancient art of folding a flat-piece of paper into a 3D shape, that even can be played by kids. So we aim to develop an Origami 3D printer (hereafter called Ori-3D) that can be used by ordinary families with the features of effort and no size limit of model. In Ori-3D, the object is constructed by human hands or by an Origami robot using 2D patterns generated from 3D data (obtained from photos or CAD). Ori-3D includes the following steps: 1) the surface of an object is segmented to several developable surfaces as large as possible using segmentation technique which is used in reverse engineering system. 2) Each developable surface is developed to 2D pattern with mountain & valley lines and glue parts. 3) The 2D crease pattern is optimized by a tree structure method to be easily folded by an Origami Robot. 4) With Origami robot, the object is easily constructed from the improved 2D crease pattern. This paper focuses on discuss the steps 1∼ 3: generation of the 2D crease pattern.
{"title":"An Origami Crease Pattern Generating Methodology for “Origami 3D Printer”","authors":"Yang Yang, I. Hagiwara, L. Diago, Junichi Shinoda","doi":"10.1115/detc2019-97715","DOIUrl":"https://doi.org/10.1115/detc2019-97715","url":null,"abstract":"\u0000 The additive 3D printer (hereafter called Add-3D) creates a 3D object with materials being added together layer by layer. Before printing an object, some professional processes are indispensable, such as creating the 3D printable models by computer-aided design (CAD), or 3D scanner, and STL data modification, which are difficult for normal families. As we know, primordially, origami is the ancient art of folding a flat-piece of paper into a 3D shape, that even can be played by kids. So we aim to develop an Origami 3D printer (hereafter called Ori-3D) that can be used by ordinary families with the features of effort and no size limit of model. In Ori-3D, the object is constructed by human hands or by an Origami robot using 2D patterns generated from 3D data (obtained from photos or CAD). Ori-3D includes the following steps: 1) the surface of an object is segmented to several developable surfaces as large as possible using segmentation technique which is used in reverse engineering system. 2) Each developable surface is developed to 2D pattern with mountain & valley lines and glue parts. 3) The 2D crease pattern is optimized by a tree structure method to be easily folded by an Origami Robot. 4) With Origami robot, the object is easily constructed from the improved 2D crease pattern. This paper focuses on discuss the steps 1∼ 3: generation of the 2D crease pattern.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134560356","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Origami designs have attracted significant attention from researchers seeking to develop new types of deployable structures due to their ability to undergo large and complex yet predictable shape changes. The Kresling pattern, which is based on a natural accumulation of folds and creases during the twist-buckling of a thin-walled cylinder, offers a great example for the design of deployable systems that expand uniaxially into tubes or booms. However, much remains to be understood regarding the characteristics of Kresling-based deployable systems, and their dynamics during the deployment process remain largely unexplored. Hence this research investigates the deployment of Kresling origami-inspired structures, employing a full six-degree-of-freedom truss-based model to study their dynamics under different conditions. Results show that tuning the initial rotation angle of a structure gives rise to several qualitatively distinct mechanical properties and stability characteristics, each of which has different implications for the design of the deployable systems. Dynamic analyses reveal the robustness of Kresling structures to out-of-axis perturbations while remaining compliant in the axial direction. These findings suggest that Kresling-based designs can form the basis for the development of new types of deployable structures and systems with tunable performance.
{"title":"On the Deployment of Multistable Kresling Origami-Inspired Structures","authors":"N. Kidambi, Kon-Well Wang","doi":"10.1115/detc2019-97427","DOIUrl":"https://doi.org/10.1115/detc2019-97427","url":null,"abstract":"\u0000 Origami designs have attracted significant attention from researchers seeking to develop new types of deployable structures due to their ability to undergo large and complex yet predictable shape changes. The Kresling pattern, which is based on a natural accumulation of folds and creases during the twist-buckling of a thin-walled cylinder, offers a great example for the design of deployable systems that expand uniaxially into tubes or booms. However, much remains to be understood regarding the characteristics of Kresling-based deployable systems, and their dynamics during the deployment process remain largely unexplored. Hence this research investigates the deployment of Kresling origami-inspired structures, employing a full six-degree-of-freedom truss-based model to study their dynamics under different conditions. Results show that tuning the initial rotation angle of a structure gives rise to several qualitatively distinct mechanical properties and stability characteristics, each of which has different implications for the design of the deployable systems. Dynamic analyses reveal the robustness of Kresling structures to out-of-axis perturbations while remaining compliant in the axial direction. These findings suggest that Kresling-based designs can form the basis for the development of new types of deployable structures and systems with tunable performance.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132639323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper details the design and simulation of a novel position control mechanism for marine operations or inspection in extreme, hostile, or high-speed turbulent environments where unprecedented speed and agility are necessary. The omnidirectional mechanism consists of a set of counter-rotating blades operating at frequencies high enough to dampen vibrational effects on onboard sensors. Each rotor is individually powered to allow for roll control via relative motor effort and attached to a servo-swashplate mechanism, enabling quick and powerful manipulation of fluid flow direction in a hull’s coordinate frame without the need to track rotor position. The mechanism inherently severs blade loads from servo torques, putting all load on the main motors and minimizing servo response time, while exploiting consistent blade momentum to minimize the corresponding force response time. The mechanical design and kinematic analysis of each subsystem is presented, followed by kinematic and hydrodynamic analysis of the hull and surrounding fluid forces during various blade maneuvers. Special maneuvers are verified using Computational Fluid Dynamic (CFD) software. Finally, a controller is constructed with decoupled parameters for each degree of freedom.
{"title":"Design and Simulation of a Novel High-Speed Omnidirectional Fully-Actuated Underwater Propulsion Mechanism","authors":"Taylor Njaka, S. Brizzolara, P. Ben-Tzvi","doi":"10.1115/detc2019-97534","DOIUrl":"https://doi.org/10.1115/detc2019-97534","url":null,"abstract":"\u0000 This paper details the design and simulation of a novel position control mechanism for marine operations or inspection in extreme, hostile, or high-speed turbulent environments where unprecedented speed and agility are necessary. The omnidirectional mechanism consists of a set of counter-rotating blades operating at frequencies high enough to dampen vibrational effects on onboard sensors. Each rotor is individually powered to allow for roll control via relative motor effort and attached to a servo-swashplate mechanism, enabling quick and powerful manipulation of fluid flow direction in a hull’s coordinate frame without the need to track rotor position. The mechanism inherently severs blade loads from servo torques, putting all load on the main motors and minimizing servo response time, while exploiting consistent blade momentum to minimize the corresponding force response time. The mechanical design and kinematic analysis of each subsystem is presented, followed by kinematic and hydrodynamic analysis of the hull and surrounding fluid forces during various blade maneuvers. Special maneuvers are verified using Computational Fluid Dynamic (CFD) software. Finally, a controller is constructed with decoupled parameters for each degree of freedom.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116808226","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
According to Camus’ theorem, for a single DOF 3-body system with the three instant centers staying coincident, a point embedded on a body traces a pair of conjugated curves on the other two bodies. This paper discusses a fundamental issue not addressed in Camus’ theorem in the context of higher order curvature theory. Following the Aronhold-Kennedy theorem, in a single degree-of-freedom three-body system, the three instant centers must lie on a straight line. This paper proposes that if the line of the three instant centers is stationary (i.e. slide along itself), on the line of the instant centers a point embedded on a body traces a pair of conjugated curves on the other two bodies. Another case is that if the line of the three instant centers rotate about a stationary point, the stationary point embedded on the body also traces a pair of conjugated curves on the other two bodies. The paper demonstrates the use of instantaneous invariants to synthesize such a three-body system leading to a conjugate curve-pair generation. It is a supplement or extension of the Camus’ theorem. The Camus’ theorem may be regarded as a special singular case, in which all three instant centers are coincident.
{"title":"Extended Camus Theory and Higher Order Conjugated Curves","authors":"C. L. Chan, K. Ting","doi":"10.1115/1.4043924","DOIUrl":"https://doi.org/10.1115/1.4043924","url":null,"abstract":"\u0000 According to Camus’ theorem, for a single DOF 3-body system with the three instant centers staying coincident, a point embedded on a body traces a pair of conjugated curves on the other two bodies. This paper discusses a fundamental issue not addressed in Camus’ theorem in the context of higher order curvature theory. Following the Aronhold-Kennedy theorem, in a single degree-of-freedom three-body system, the three instant centers must lie on a straight line. This paper proposes that if the line of the three instant centers is stationary (i.e. slide along itself), on the line of the instant centers a point embedded on a body traces a pair of conjugated curves on the other two bodies. Another case is that if the line of the three instant centers rotate about a stationary point, the stationary point embedded on the body also traces a pair of conjugated curves on the other two bodies. The paper demonstrates the use of instantaneous invariants to synthesize such a three-body system leading to a conjugate curve-pair generation. It is a supplement or extension of the Camus’ theorem. The Camus’ theorem may be regarded as a special singular case, in which all three instant centers are coincident.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128189342","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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