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Direct and inverse kinematics are commonly implemented to determine main parameters affecting humanoid robots behavior and specify the reliable method to control motion and preserve stability. This paper presents a direct kinematics method for humanoid NAO model. The approach is analytical based on classic methods like Denavit-Hartenberg convention which are employed to derive forward kinematics equations...
For the real-time adjustment of the Satellite Integrated Assembly, Stewart platform-based mechanism is adopted. This paper presents the optimization design of the parallel adjustment platform for satellite integrated assembly and the analysis of the configuration is optimized. The actual working conditions and real limit of system size is considered when optimizing the configuration. Placing the moving...
A novel fully pre-stressed six-component force/torque sensor based on double-layer Stewart platform is proposed, and the parameter optimization of the sensor structure with genetic algorithms (GA) is presented. The structure characteristic of the fully pre-stressed sensor is analyzed in comparison with the traditional Stewart platform-based sensor. The number of the elastic limbs is determined by...
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