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, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms


In this article, we present a continuously tunable stiffness arm for safe physical human–robot interactions. Compliant joints and compliant links are two typical solutions to address safety issues for physical human–robot interactions via introducing mechanical compliance to robotic systems. While extensive studies explore variable stiffness joints/actuators, variable stiffness links for safe physical human–robot interactions are much less studied. This article details the design and modeling of a compliant robotic arm whose stiffness can be continuously tuned via cable-driven mechanisms actuated by a single servo motor. Specifically, a 3D-printed compliant robotic arm is prototyped and tested by static experiments, and an analytical model of the variable stiffness arm is derived and validated by testing. The results show that the lateral stiffness of the robot arm can achieve a variety of 221.26% given a morphing angle of 90 deg. The variable stiffness arm design developed in this study could be a promising approach to address safety concerns for safe physical human–robot interactions.
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