Ressourcenknappheit, Stakeholderforderungen und steigendes Nachhaltigkeits-bewusstsein von Konsumenten drängen Unternehmen dazu, ihre Supply-Chain nachhaltig auszurichten, sodass neben ökonomischen Zielen auch ökologische soziale Aspekte Berücksichtigung finden. Die Closed-Loop Supply Chain spielt als Lösungsansatz in der Diskussion nachhaltiger Wertschöpfungssysteme eine wesentliche Rolle, jed...

The system under investigation is the hydraulically driven large-scale combined legged and wheeled vehicle ALDURO. It combines the advantages of a walking machine with the stability and speed of a wheeled vehicle. It is able to move over rugged terrain. Due to the kinematic constraints arising at the wheel-ground contact, ALDURO is a nonholonomic system which includes several closed kinematic l...

This paper presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental test...

Variable-DOF (or kinematotropic) mechanisms are a class of reconfigurable that have varying degrees freedom (DOF) in different motion modes and can be reconfigured without disassembly. However, the number proposed variable-DOF multi-loop planar is currently limited. This paper introduces new 8-link mechanism has five modes. Firstly, described. Then, reconfiguration analysis performed using hybr...

We consider a class of Markov chains known for its closed form transient and steady-state distributions. We show that some absorbing chains can be also seen as members of this class and we provide the closed form solution for their absorption time distributions. By constructing upper and lower bounding chains that belong to this particular class one can easily compute both lower and upper bound...

For decades, kinematic couplings have been developed and used because of their astounding repeatability, but few efforts have been made to unify the design theory into a general strategy for widespread application of deterministic interfaces in flexible automation, where both repeatability and interchangeability are important. Accordingly, this thesis seeks to present a methodology for using ki...

Today, industrial robots can replace humans in carrying out various types of operations. They can as well serve machine tools as to carry out various tasks like welding, handling, painting, assembling, dismantling, foundering, forging, packaging, palletizing ....in different areas of the mechanical, car, aerospace, automotive, electronics ... and other industries. However, the complexity of the...

Keith L. Doty Professor in Electrical Engineering 515 Weil Hall Machine Intelligence Laboratory Department of Electrical Engineering University of Florida Gainesville, FL 32611 Telephone: (904)392-4951 email: [email protected] email: [email protected] ABSTRACT This paper develops a symbolic method for calculating a manipulator’s singularity manifold in configuration space. The concept of spatial ...