The constant inertia mechanism and its use in a high-speed 2-DoF inherently dynamically balanced parallel manipulator

Robotic manipulators are desired to keep their settling time as low as possible for the pick-and-place industry. If the settling time is lower, more cycles can be made, increasing productivity. For high-speed parallel manipulators, a significant vibration cause that increases the settling time is the movable mass and inertia. By dynamic...

Design and Validation of Ungrounded Wrist Perturbator Based On Parallel Mechanism

The compliance (stiffness) of a human arm varies, depending on the task at hand. Some precise tasks require high stiffness, while others need a level of flexibility to deal with unknown disturbances. To describe this human behaviour a portable device is needed to give small force perturbations (input) while the resulting reaction of the arm ...

Design of a setup for experimental research on stability of a bicycle-rider system subject to large perturbations

Up to now, not much is known about how humans control bicycles, especially when subject to large perturbations. In order to learn more about the extent to which these perturbations can be handled, a new experimental setup is required, which can deliver large perturbations to cyclists and bring them to fall. This thesis describes the detailed...

Experimental data-tracking of the BMX SX gate start using biomechanical modeling and trajectory optimization

Introduction During Bicycle Motocross races (BMX SX), the start has been proven to be crucial for good overall performance [1]. Riders reaching the bottom of the eight meter high starting ramp in front of the pack, have a favorable position to perform the first jump and can pick the most ideal line through the first corner. The chances of...

The Stability of a Bicycle-Rider System: Basin of Attraction Identification and its Sensivity to Neural Time Delay

Part of the goal of Europe’s Strategy Vision Zero is to eliminate all severe cycling accidents in Europe by 2030. The majority of cycling accidents are single vehicle accidents; this term indicates the absence of collisions with other road participants and implies a fall of the cyclist. Research has shown that mainly elderly cyclists are victim...