Reconfigurable Thick-Panel Structures Based on a Stacked Origami Tube
Abstract Variable crease origami that exhibits crease topological morphing allows a given crease pattern to be folded into multiple shapes, greatly extending the reconfigurability of origami structures. However, it is a challenge to enable the thick-panel forms of such crease patterns to bifurcate uniquely and reliably into desired modes. Here, thick-panel theory combined with cuts […]
An Analytical Model for Nonlinear-Elastic Compliant Mechanisms With Tension–Compression Asymmetry
Abstract While nonlinear-elastic materials demonstrate potential in enhancing the performance of compliant mechanisms, their behavior still needs to be captured in a generalized mechanical model. To inform new designs and functionality of compliant mechanisms, a better understanding of nonlinear-elastic materials is necessary and, in particular, their mechanical properties that often differ in tension and compression. […]
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 […]
Design and Optimization of a Wearable Underactuated Mechanism for Spinal Posture Measurement
Abstract This paper proposes a novel wearable device to monitor and record the posture and alignment of spine. The proposed device adopts an underactuated mechanism design which allows it to adapt to the multiple-degrees-of-freedom spinal posture with minimum weight and complexity. To ensure the validity of measurement and comfort of wearing, the mechanism parameters are […]
Targeted Sampling Dynamic Window Approach: A Path-Aware Dynamic Window Approach Sampling Strategy for Omni-Directional Robots
Abstract This paper describes a sampling strategy for the dynamic window approach (DWA), a local path planner, for omni-directional robot motion planning. An efficient local planner allows the robot to quickly respond to dynamic obstacles and ensures that commanded velocities meet the dynamic constraints of the robot. While typical DWA implementations sample the velocity space […]
Design and Kinematics of a Novel Continuum Robot Connected by Unique Offset Cross Revolute Joints
Abstract Continuum robots have continuous structures and inherent compliance, which can be used for accessing unstructured and confined space in many fields, such as minimally invasive surgery and aero-engine in-situ inspection. A novel cable-driven continuum robot connected by unique offset cross revolute joints is proposed in this paper, which has excellent bending capacity and appropriate […]
Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger
Abstract Rejecting impact force by adjusting footsteps during walking is crucial for a humanoid robot in an interactive environment. This paper proposes an optimal footstep regulation trigger for an analytic footstep regulation algorithm in the singular-linear-quadratic-preview walking controller framework. The trigger avoids regulating the footstep in every cycle to reduce the computational cost. Moreover, adjusting […]
Folding Miura-Ori of Uniform Thickness With One Degree-of-Freedom
Abstract The Miura-ori is an origami pattern with bi-directional folding capable of transforming a large thin sheet into a compact volume with a single degree-of-freedom (DoF). A common Miura-ori pattern consists of identical rigid parallelogram facets that can rotate about the creases without twisting or stretching. However, large gaps along the hinges or uneven surfaces […]
Form-Finding and Evaluation of Spherical Tensegrity Toward Applying in Locomotive Robots
Abstract A tensegrity-based robot is a locomotive robot that operates on the principle of tensegrity, allowing it to change its shape by adjusting its internal prestress. Tensegrity-based robots can be categorized into different types based on their shape, with the spherical tensegrity-based robot garnering the most attention. However, existing designs for spherical tensegrity-based robots tend […]
Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators
Abstract Determining the workspace of a robotic manipulator is highly significant for knowing its abilities and planning the robot application. Several techniques exist for robot workspace determination. However, these methods are usually affected by computational redundancy, like in the Monte Carlo based method case, and their implementation can be complex. The workspace analysis of kinematic […]
