Latest Papers

ASME Journal of Mechanisms and Robotics

  • Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
    on September 14, 2022 at 12:00 am

    AbstractThis article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss’s Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs–Appell and Kane’s equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton–Euler algorithm.

Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism


Elastic elements are commonly adopted to realize underactuation in the design of human-friendly prosthetic hands. The stiffness of these elastic elements, which is a key factor affecting the grasp performance of the underactuated finger, has not well addressed when considering both the stability and adaptability. In this study, an adaptive anthropomorphic finger that adopted a novel nine-bar mechanism is proposed. This nine-bar mechanism is integrated through a coupled four-bar mechanism and an adaptive seven-bar mechanism. The developed finger based on the nine-bar mechanism is able to improve the grasp stability in the global workspace under an extremely small spring stiffness. A quantitative analysis of the grasp stability was carried out. Comparative experiments on the grasps using the finger with/without adaptability were also performed. The results validated that our finger has a good stability when grasping the objects of different sizes.

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