Kinematic Structure Research Articles

Isotopic abundance of carbon in the DLA towards QSO B1331+170

ABSTRACT Chemical evolution models predict a gradual build-up of 13C in the Universe, based on empirical nuclear reaction rates and assumptions on the properties of stellar populations. However, old metal-poor stars within the Galaxy contain more 13C than is predicted, suggesting that further refinements to the models are necessary. Gas at high-redshift provides important supplementary information at metallicities $-2\lesssim \left[{\rm Fe/H}\right]\lesssim -1$, for which there are only a few measurements in the Galaxy. We obtained new, high-quality, VLT/ESPRESSO observations of the QSO B1331$+$170 and used them to measure 12C/13C in the damped Lyman-$\alpha$ system (DLA) at $z_{\rm abs}=1.776$, with $\left[{\rm Fe/H}\right]$ = −1.27. ai-vpfit, an artificial intelligence tool based on genetic algorithms and guided by a spectroscopic information criterion, was used to explore different possible kinematic structures of the carbon gas. Three hundred independent ai-vpfit models of the absorption system were produced using pre-set 12C/13C values, ranging from 4 to 500. Our results show that ${\rm ^{12}C / ^{13}C}=28.5^{+51.5}_{-10.4}$, suggesting a possibility of 13C production at low metallicity.

Passive Realization of Object Spatial Compliance by a Hand Having Multiple Four-Joint Hard Fingers

Abstract This paper presents an approach to passively realize any specified object spatial compliance using the grasp of a robotic hand. The kinematically anthropomorphic hands considered have multiple 4-joint fingers making hard point contact with the held object, and the joints of each finger have selectable passive elastic behavior. It is shown that the space of passively realizable compliances is restricted by the kinematic structure of the anthropomorphic hand. To achieve an arbitrary compliant behavior, fingers must be able to adjust their orientation. Synthesis procedures for grasps having 3, 4, and 5 or more fingers are developed. These procedures identify the finger configurations and the individual finger joint compliances needed to passively achieve any specified spatial object compliance matrix in the 20-dimensional subspace of grasp-realizable behaviors.

Asymmetries during Eyewall Replacement Cycles of Hurricane Ivan (2004)

Abstract The physical processes that govern eyewall replacement cycles (ERCs) in tropical cyclones (TCs) are not yet fully understood. In particular, asymmetric structures within the TC inner core have an uncertain role in ERC dynamics. This study analyzes the kinematic and precipitation asymmetric structures during successive ERCs in Hurricane Ivan (2004) using airborne Doppler radar observations. The azimuthal locations of these asymmetries are analyzed relative to the deep-layer (850–200 hPa) environmental wind shear vector. Two ERCs were analyzed at different stages of their evolution. During the concentric eyewall stage of the first ERC, the outer eyewall updrafts were strongest in the left-of-shear half, which also coincided with mesoscale descending inflow (MDI) just radially outward. Enhanced low-level convergence, updrafts, and MDI were collocated in a zone spiraling inward toward the strongest outer eyewall updrafts, suggesting that the vertical velocity asymmetry in the outer eyewall was possibly forced by a stratiform-induced cold pool similar to MDI impacts seen in past TC studies. During the final stage of the second ERC, the outer eyewall (now the singular primary eyewall) experienced an upwind shift in the precipitation and vertical velocity asymmetries. The updraft maximum shifted from the downshear-left quadrant to the downshear-right quadrant, and the precipitation maximum (downwind of the updraft maximum) shifted from left-of-shear to the downshear direction. This shift corroborates previous studies, which hypothesize that at the end of an ERC, the forcing mechanism that drives the eyewall vertical velocity asymmetry transitions from MDI/cold-pool processes to direct interaction with the environmental wind shear.

ANALYSIS OF THE SPATIO-TEMPORAL CHARACTERISTICS OF THE TECHNIQUE OF KICKING WITH THE LEFT FOOT TO THE SIDE FROM THE LEFT-HANDED STANCE OF HIGHLY SKILLED ATHLETES SPECIALISING IN HAND-TO-HAND COMBAT

The relevance of the research topic. A wide arsenal of technical actions and a wide range of potential conflict situations that regularly occur in the course of martial arts determine the peculiarities of operations, actions and mechanisms for their improvement. The aim of the research was to analyse the indicators of the spatial-temporal structure of the technique of a kick with the left foot to the side from the left- handed stand performed by highly skilled sportsmen. Research methods: analysis of literature sources, video recording and biomechanical video computer analysis using the optoelectronic system "Qualisys", methods of mathematical statistics. Results. The movement of the biolinks of the athletes' body during the phase of preparing for the impact is from 0.03 m to 0.25 m. During the kicking phase, the values of the average velocities of the right ankle and right knee joints are 4.23 m·s-1 and 2.26 m·s -1 respectively. Conclusions. The execution of a blow is effective from the point of view of biomechanical analysis, and the indicators of the kinematic structure of movements during the execution of this blow can be used both as a reference sample of sports technique and for the development of model characteristics of movements based on them. The values of the average velocities of the shoulder, elbow, and carpal joints of the right hand during the walking phase are 0.50 m·s-1, 1.10 m·s-1, and 0.95 m·s-1, respectively. The average speed of the shoulder joint of the left hand is 0.69 m·s-1, the left elbow joint - 0.97 m·s-1, and the left carpal joint - 2.03 m·s-1. Such high indicators of the average speeds of the hand joints during the walking phase indicate swinging movements to increase the force of the impact due to the use of inertial forces. The movement of the biolinks of the athletes' body during the walking phase ranges from 0.08 m to 0.63 m. The values of the indicators of the joints of the upper limbs during the two support phases when performing a left leg kick to the side from the left stance are: right shoulder joint - 0.65 m·s-1, left shoulder joint -0.52 m·s-1, right elbow joint – 2.73 m·s-1, left elbow joint – 1.71 m·s-1, right and left carpal joints – 1.84 m·s-1. In the two-support phase, the movement of the studied body points of the athletes is in the range from 0.08 m to 0.56 m. The values of the average velocities of the studied body points of the athletes during the contact phase when performing a left leg kick to the side from the left stance range from 0.23 m s- 1 to 2.53 m·s-1, and the displacement of the same points during this phase is from 0.02 m to 0.20 m

Probing the dynamical and kinematical structures of detached shells around AGB stars

Context. The chemical evolution of asymptotic giant branch (AGB) stars is driven by repeated thermal pulses (TPs). The duration of a TP is only a few hundred years, whereas an inter-pulse period lasts 104 − 105 yr. Direct observations of TPs are hence unlikely. However, the detached shells seen in CO line emission that are formed as a result of a TP provide indirect constraints on the changes experienced by the star during the pulse. Aims. We aim to resolve the spatial and kinematic sub-structures in five detached-shell sources to provide detailed constraints for hydrodynamic models that describe the formation and evolution of the shells. Methods. We used observations of the 12CO (1 − 0) emission towards five carbon-AGB stars with ALMA (Atacama Large Millimeter/submillimeter Array), including previously published observations of the carbon AGB star U Ant. The data have angular resolutions of 0″​​.3 to 1″ and a velocity resolution of 0.3 km s−1. This enabled us to quantify spatial and kinematic structures in the shells. Combining the ALMA data with single-dish observations of the 12CO (1 − 0) to 12CO (4 − 3) emission towards the sources, we used radiative transfer models to compare the observed structures with previous estimates of the shell masses and temperatures. Results. The observed emission is separated into two distinct components: a more coherent, bright outer shell and a more filamentary, fainter inner shell. The kinematic information shows that the inner sub-shells move at a higher velocity relative to the outer sub-shells. The observed sub-structures reveal a negative velocity gradient outwards across the detached shells, confirming the predictions from hydrodynamical models. However, the models do not predict a double-shell structure, and the CO emission likely only traces the inner and outer edges of the shell, implying a lack of CO in the middle layers of the detached shell. Previous estimates of the masses and temperatures are consistent with originating mainly from the brighter subshell, but the total shell masses are likely lower limits. Also, additional structures in the form of partial shells outside the detached shell around V644 Sco, arcs within the shell of R Scl, and a partially filled shell for DR Ser indicate a more complicated evolution of the shells and mass-loss process throughout the TP cycle than previously assumed. Conclusions. The observed spatial and kinematical splittings of the shells appear consistent with results from the hydrodynamical models, provided the CO emission does not trace the H2 density distribution in the shell but rather traces the edges of the shells. The hydrodynamical models predict very different density profiles depending on the evolution of the shells and the different physical processes involved in the wind-wind interaction (e.g. heating and cooling processes). It is therefore not possible to constrain the total shell mass based on the CO observations alone. Additional features outside and inside the shells complicate the interpretation of the data. Complementary observations of, for example, CI as a dissociation product of CO would be necessary to understand the distribution of CO compared to H2, in addition to new detailed hydrodynamical models of the pre-pulse, pulse, and post-pulse wind. Only a comprehensive combination of observations and models will allow us to constrain the evolution of the shells and the changes in the star during the thermal-pulse cycle.

A heuristic solution-based motion planning framework for redundant manipulators

Motion planning and optimization are the key and challenging problems for redundant manipulators operating in cluttered environments. This paper proposes a motion planning framework based on the heuristic solution that explores the optimal solutions for path planning and kinematic solutions by estimating the cost of target configurations via dynamic programming methods. A heuristic function model based on artificial neural networks (ANN) is constructed in the path planning structure and rapidly trained through the RRT* algorithm, leveraging value iteration concepts to search the state space. This structure can utilize previous experience to guide future exploration behavior with significant improvements in path quality and algorithm efficiency. The kinematic solving structure is unified with path planning by building a global energy optimal heuristic function. K-means is employed to determine the initial policy, avoid ineffective searches in non-critical spaces, and introduce gradient concepts to explore the optimal policy rapidly. The proposed method can obtain better energy optimization results while ensuring solving efficiency. The optimal joint angles of the manipulator are determined through collision detection and posture adjustment methods. Finally, the performance of the proposed framework is simulated and experimentally verified.

Calibration of a Hybrid Machine Tool from the Point of View of Positioning Accuracy

The development of machine tools in the last twenty years includes, among other things, the application of mechanisms with a non-linear kinematic structure as the mechanical basis of machines. This results in significant improvements in kinematic characteristics and problems related to non-linear dependencies of the accuracy of the drive elements and the realization of movement in the machine’s external coordinates. The paper presents an approach to machine tool calibration based on the original O-X glide mechanism based on the ISO 230-4 standard with the mono- and bi-directional compensation of systematic errors and adaptation to the specifics of the mechanism’s kinematics. A machine tool prototype was designed and built for the research presented in the paper. The obtained results indicate the possibility of applying the existing recommendations and standards for testing the accuracy of machine tools with the need to correct the methodology by using linear and non-linear kinematic structures in machine tools.

Flexible Cartridge Sorting Line Using Parallel Robot “Bulletsort Topcodpet”

Abstract Nowadays the automation of some industrial processes within the military system is a necessity, as this trend is accelerated by technological advances and thus must respond to the increasingly complex contemporary challenges of global security. Sorting is an extremely important process in almost any industrial area of use and it is essential that it is done in the right way so that productivity and flexibility of operations is increased. Over time, sorting with industrial robots has become an increasingly widespread and sophisticated technology, which has led to benefits in various industrial fields and manufacturing processes. This technology involves the use of robots with articulated arms or other mechatronic devices that follow the principle of modular interchangeability and are designed to pick, handle and sort different parts in an efficient and more accurate way. The desire to maximize flexibility, adaptability to changing industry requirements coupled with increased productivity has made robot arm sorting a necessary component of today's military industrial and manufacturing processes, and this technology continues to develop, opening up new opportunities in manufacturing automation. This paper presents the principle design of a flexible manufacturing line for sorting cartridges, served by a parallel robot with two degrees of freedom in the kinematic chain structure.

FAUST

Context. Understanding the connection between outflows, winds, accretion, and discs in the inner protostellar regions is crucial for comprehending star and planet formation processes. Aims. We aim to we explore the inner 300 au of the protostar IRAS 4A2 as part of the ALMA FAUST Large Program. Methods. We analysed the kinematical structures of SiO and CH3OH emission with 50 au resolution. Results. The emission arises from three zones: (i) a very compact and unresolved region (< 50 au) dominated by the ice sublimation zone, at ±1.5 km s−1 with respect to vsys, traced by methanol; (ii) an intermediate region (between 50 au and 150 au) traced by both SiO and CH3OH, between 2 and 6 km s−1 with respect to vsys, with an inverted velocity gradient (with respect to the large-scale emission), whose origin is not clear; (iii) an extended region (> 150 au) traced by SiO, above 7 km s−1 with respect to vsys, and dominated by the outflow. In the intermediate region, we estimated a CH3OH/SiO abundance ratio of about 120–400 and a SiO/H2 abundance of 10−8. We explored various possibilities to explain the origin of this region, such as, a rotating disc or inner envelope, a jet on the plane of the sky or precessing, and a wide-angle disc wind. Conclusions. We propose that CH3OH and SiO in the inner 100 au probe the base of a wide-angle disc wind. The material accelerated in the wind crosses the plane of the sky, giving rise to the observed inverted velocity gradient, and sputtering the grain mantles and cores releasing CH3OH and SiO. This is the first detection of a disc-wind candidate in SiO, and the second ever in CH3OH.

ALMA view of the L1448-mm protostellar system on disk scales: CH3OH and H13CN as new disk wind tracers

Protostellar disks are known to accrete; however, the exact mechanism that extracts the angular momentum and drives accretion in the low-ionization “dead” region of the disk is under debate. In recent years, magnetohydrodynamic (MHD) disk winds have become a popular solution. Even so, observations of these winds require both high spatial resolution (~10 s au) and high sensitivity, which has resulted in only a handful of MHD disk wind candidates to date. In this work we present high angular resolution (~30 au) ALMA observations of the emblematic L1448-mm protostellar system and find suggestive evidence for an MHD disk wind. The disk seen in dust continuum (~0.9 mm) has a radius of ~23 au. Rotating infall signatures in H13CO+ indicate a central mass of 0.4 ± 0.1 M⊙ and a centrifugal radius similar to the dust disk radius. Above the disk, we identify rotation signatures in the outflow traced by H13CN, CH3OH, and SO lines and find a kinematical structure consistent with theoretical predictions for MHD disk winds. This is the first detection of an MHD disk wind candidate in H13CN and CH3OH. The wind launching region estimated from cold MHD wind theory extends out to the disk edge. The magnetic lever arm parameter would be λϕ ≃ 1.7, in line with recent non-ideal MHD disk models. The estimated mass-loss rate is approximately four times the protostellar accretion rate (Ṁacc ≃ 2 × 10−6M⊙ yr−1) and suggests that the rotating wind could carry enough angular momentum to drive disk accretion.

Massive covariant colour-kinematics in 3D

We explore topologically massive gauge theories using the covariant colour kinematics duality recently introduced in [1]. We show that the massive bi-adjoint scalar field is simply related to topologically massive gauge theory by the duality, and that enacting the same duality on the gauge theory produces topologically massive gravity coupled to a scalar or, equivalently, an antisymmetric field. We also show that different choices for the replacement of the colour structure constants with kinematic structure constants lead to different theories, including a topologically massive generalisation of Born-Infeld theory.

The Development Cycle of Machining Operations on an Educational CNC Machine

The paper presents a technological analysis, the phases and working methods, as well as the parameters of the processing cycle of a flange for a high-pressure hydraulic gear pump, which has the code FHP-05-12-24, made of polymeric material of ERTALON 66 SA type. The processing was made by cutting with the help of an educational milling and drilling machine with numerical control called EMCO MILL 55 CNC. The commands were programmed through a computer interface, using a conventional numerical code that commands the same kinematic chains, defining specific elements such as the geometric structure of the part, the technological conditions, the structure of the CNC kinematics, the calculation of the programmable coordinates, the parameters of the cutting tools and the parameters of the cutting regime. Based on the characteristics of the polymer material, but also on the identification of programmable functions and routines, the complete development cycle of the complex part processing operations was defined using special functions dedicated to the drilling and milling processes of the profiled surfaces. The part program structure contains program blocks associated with each stage and machining tools. The purpose of the study is to highlight, at an early stage, how students and young researchers can use computer numerical control (CNC) machines, which can be used as a support for the physical processing of complex surfaces, possibly obtained by digitizing and measuring data through a digital correlation based on specialized software products (e.g. GOM Scan, GOM Inspect, FEM analysis, etc.).

Modelling, Analysis and Comparison of Robot Energy Consumption for Three-Dimensional Concrete Printing Technology

The technology used for the 3D printing of buildings from concrete is currently a very relevant and developing topic and appears to be especially advantageous in terms of sustainable production. An important aspect of the sustainability assessment is the energy efficiency of the printing robots. Printing robots consume a significant amount of energy when printing. It is important to analyse this energy thoroughly and to be able to predict it in order to optimise the movement and control of printing robots to reduce energy consumption. In that paper, we analyse in detail the energy consumption of printing robots, which has not yet been thoroughly investigated in the context of 3D printing building applications. We present a methodology to develop an energy consumption model for a printing robot, specifically developed and optimized for this technology. Our methodology incorporates an innovative approach to determine reduced-efficiency maps, allowing for the inclusion of difficult-to-measure drive efficiency parameters in the model. This results in a comprehensive model of the energy consumption of the printing robot, reflecting its operating characteristics in a real-world environment. An open control system of the printing robot is used for the measurement of energy quantities, and specially developed software tools are introduced. We also present the first direct comparison of the energy consumption of different printing robots when following a uniform printing trajectory. The comparison is made based on the presented methodology to obtain and compare actual energy data from workplaces with printing robots. The methodology combines measured data with energy simulations from ABB RobotStudio, enabling energy comparisons between industrially articulated robots and real printing robots, including the ABB IRB4600, the gantry printing robot, and the printing robot. The experiments clearly demonstrate that the kinematic structure of printing robots significantly affects their energy consumption in 3D printing concrete. Based on the conducted methodologies and analyses, we identify key aspects of energy consumption of printing robots in 3D Construction Printing or 3D Concrete Printing (3DCP) technology. In doing so, we bring a new perspective and provide a basis for further research and development in this previously understudied area.

Trajectory tracking control of parallel manipulator actuated with shape memory wire

This study describes the design of a parallel spatial manipulator with four degrees of freedom actuated with shape memory alloy (SMA) wire to validate the use of SMA in complicated mechatronics systems. The manipulator has a closed kinematic structure, which includes a fixed base and a moving square platform (end effector). The four arms of the manipulator are SMA wires fastened between the fixed base and the end effector. SMA wire-based actuators replace bulky conventional revolute actuators. This work spotlights the development of an actuator model, dimensional analysis, and design of cascade control strategies of various PID and sliding mode controller in their integral and fractional order configurations. Experimental evaluation of the actuator is performed through trajectory tracking to quantify the different controller configurations. The experimental results indicate that the parallel manipulator associated with SMA wire actuators is the best alternative to conventional motion stages for highly precise micro-positioning and tracking applications in the fields of 3D printing, intricate surgical operations, the medical and pharmaceutical industries, and flight and gaming simulators.

Introduction of the Experimental Setup for the Investigation of the Novel Selective Melt Dispersion (SMD): A Directed Energy Deposition (DED) Process

This study focuses on developing an experimental setup to investigate the Selective Melt Dispersion (SMD), a Directed Energy Deposition (DED) process. SMD as a means of in-process joining (IPJ) aims to integrate components and assemblies during additive manufacturing, combining the advantages of various processes for eco-friendly and economical resource utilization. The research initially analyzed DED systems and defined requirements for subsystems and the overall system. Critical subsystems, including the energy source, material feed, and others, were sequentially developed, and a proof of concept involved building 20 stacked welded tracks, validated through micrograph analysis. The study concludes by evaluating and discussing the fulfillment of the defined requirements. The system comprises a centrally arranged vibration-assisted powder feed; a laterally arranged laser incidence at a 45° angle; a kinematic structure where all axes are arranged on the workpiece, so the powder supply does not require movement; and a shield gas supply.

Full pose measurement system for industrial robots kinematic calibration based on a sensorized spatial linkage mechanism

This paper presents a low-cost pose measuring device capable of simultaneously measuring all six coordinates (3 translations and 3 rotations) of a rigid body with respect to a given reference frame. The proposed system consists of a mechanical chain of rigid bodies and two encoders. The mechanism is a spatial four-bar linkage system with a symmetrical Revolute-Spherical-Spherical-Revolute (RSSR) kinematic structure, where two encoders measure the rotation of the revolute joints. The mechanism is investigated theoretically and solved kinematically using a numerical estimation method. The uncertainty of the pose determination, caused by the repeatability of the sensors, is estimated, as well as the achievable measurement range. A low uncertainty is achieved by a suitable design of the proposed kinematic chain. The mechanism is easy to realize with low tolerances and the correct definition of the length of the links allows a quite large workspace. The system can be profitably used in the calibration of robots or multi-axis machine tools where the actual pose of the gripper or spindle must be measured over the workspace of the machine. An experimental prototype is described, and the first experimental results are reported.

Kinematic and Dynamic Structure of the 18 May 2020 Squall Line over South Korea

The diagonal squall line that passed through the Korean Peninsula on the 18 May 2020 was examined using wind data retrieved from multiple Doppler radar synthesis focusing on its kinematic and dynamic aspects. The low-level jet, along with warm and moist air in the lower level, served as the primary source of moisture supply during the initiation and formation process. The presence of a cold pool accompanying the squall line played a role in retaining moisture at the surface. As the squall line approached the Korean Peninsula, the convective bands in the northern segment (NS) and southern segment (SS) of the squall line exhibited distinct evolutionary patterns. The vertical wind shear in the NS area was more pronounced compared to that in the SS. The ascending inflow associated with the tilted updraft in the NS reached an altitude of 7 km, whereas it was only up to 4 km in the SS. The difference was caused by the strong descending rear flow, which obstructed the ascending inflow and let to significant updraft in the SS.

Mathematical framework for snake robot motion in a confined space

Snake robots have redundant kinematic structure which predetermines them for motion in rough and unstructured terrain with obstacles, narrow spaces or environments with different ground levels. Dynamic modeling of snake robots is an important element in the development of control strategies for them. This paper, deals with the dynamic model of a snake robot moving in a pipeline. The model is based on Newton's mechanics with consideration of the viscous as well as Coulomb friction model. The paper uses Hertz theory for modeling of contact between a snake robot and side walls of a pipeline. Based on optimization process results, the friction effects as well as analyses of snake robot propulsive force are investigated. The main contributions of the paper are the developed dynamic model for snake robot motion in a pipeline, open source code of the developed model in MATLAB, and analyses of individual parameters of snake robot motion.

A Unified Model for Bipolar Outflows from Young Stars: Kinematic and Mixing Structures in HH 30

The young stellar source HH 30 is a textbook example of an ionic optical jet originating from a disk in an edge-on system shown by the Hubble Space Telescope. It has a remnant envelope in 12CO observed by the Atacama Large Millimeter/submillimeter Array. The optical jet is characterized by its narrow appearance, large line width at the base, and high temperature inferred from line diagnostics. Three featured structures can be identified, most evident in the transverse position–velocity diagrams: an extremely-high-velocity wide-angle wind component with large spectral widths in the optical, a very-low-velocity ambient surrounding medium seen in 12CO, and a low-velocity region traced by 12CO nested both in velocity and location between the primary wind and ambient environment. A layered cavity with multiple shells forms nested morphological and kinematic structures around the optical jet. The atomic gas originating from the innermost region of the disk attains a sufficient temperature and ionization to emit brightly in forbidden lines as an optical jet. The wide-angle portion expands, forming a low-density cavity. The filamentary 12CO encompassing the wind cavity is mixed and advected inward through the action of the magnetic interplay of the wide-angle wind with the molecular ambient medium. The magnetic interplay results in the layered shells penetrating deeply into the vast cavity of tenuous atomic wind material. The HH 30 system is an ideal manifestation of the unified wind model of Shang et al. (2020, 2023), with clearly distinguishable atomic and molecular species mixed through the atomic lightly ionized magnetized wind and the surrounding cold molecular ambient material.

NEAR-ZERO PARASITIC SHIFT FLEXURE PIVOTS BASED ON COUPLED N-RRR PLANAR PARALLEL MECHANISMS

Abstract Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radial stiffness, a reduction of the angular stroke, and nonlinear moment-angle characteristics. This article introduces a novel family of kinematic structures based on coupled n-RRR planar parallel mechanisms which presents exact zero parasitic shifts, while alleviating the drawbacks of some known pivoting structures. Based on this invention, three symmetrical architectures have been designed and implemented as flexure-based pivots. The performance of the newly introduced pivots has been compared with two known planar flexure pivots having theoretically zero parasitic shift via Finite Element models and experiments performed on plastic mockups. The results show that the newly introduced flexure pivots are an order of magnitude radially stiffer than the considered pivots from the state of the art, while having equivalent angular strokes. To experimentally evaluate the parasitic shift of the novel pivots, one of the architectures was manufactured in titanium alloy using wire-cut electrical discharge machining. This prototype exhibits a parasitic shift under 1.5 µm over a rotation stroke of ±15°, validating the near-zero parasitic shift properties of the presented designs. These advantages are key to applications such as mechanical time bases, surgical robotics, or optomechanical mechanisms.