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, Kinematics, and Application of Axially and Radially Expandable Modular Soft Pneumatic Actuators


Recently, soft pneumatic actuators (SPAs) have drawn increasing attention due to their ease of fabrication, high customizability, and intrinsic softness. Inspired by modular design, two kinds of SPAs, including an axial elongation soft pneumatic actuator (aeSPA) and a radial expansion soft pneumatic actuator (reSPA), are proposed in this paper, followed by their modeling, fabrication, and application in locomotion robots. The relationships between pressure and displacement of these SPAs are deduced based on the Yeoh model and the principle of virtual work, which has a good agreement with experimental results. Five modular worm-like crawling robots are fabricated by assembling the aeSPAs and reSPAs in different morphologies, and crawling tests are performed under different conditions to show the adaptivity of robots.
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