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.

Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms


Cylindrical developable mechanisms are devices that conform to and emerge from a cylindrical surface. These mechanisms can be formed or cut from the cylinder wall itself. This paper presents a study on adapting traditional hinge options to achieve revolute motion in these mechanisms. A brief overview of options is given, including classical pin hinges, small-length flexural pivots, initially curved beams, and an adaptation of the membrane thickness-accommodation technique. Curved lamina emergent torsional (LET) joints are then evaluated in detail, and a thin-walled modeling assumption is checked analytically and empirically. A small-scale cylindrical developable mechanism is then evaluated with Nitinol curved LET joints.
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