Latest Papers

ASME Journal of Mechanisms and Robotics

  • Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation
    on August 31, 2023 at 12:00 am

    AbstractHumans are intrinsically unstable in quiet stance from a rigid body system viewpoint; however, they maintain balance, thanks to neuro-muscular sensory control properties. With increasing levels of balance related incidents in industrial and ageing populations globally each year, the development of assistive mechanisms to augment human balance is paramount. This work investigates the mechanical characteristics of kinematically dissimilar one and two degrees-of-freedom (DoF) supernumerary robotic tails for balance augmentation. Through dynamic simulations and manipulability assessments, the importance of variable coupling inertia in creating a sufficient reaction torque is highlighted. It is shown that two-DoF tails with solely revolute joints are best suited to address the balance augmentation issue. Within the two-DoF options, the characteristics of open versus closed loop tails are investigated, with the ultimate design selection requiring trade-offs between environmental workspace, biomechanical factors, and manufacturing ease to be made.

Direct Position Analysis of a Particular Translational 3-URU Manipulator


Direct position analysis (DPA) of parallel manipulators (PMs) is in general difficult to solve. Over on PMs’ topology, DPA complexity depends on the choice of the actuated joints. From an analytic point of view, the system of algebraic equations that one must solve to implement PMs’ DPA is usually expressible in an apparently simple form, but such a form does not allow an analytic solution and even the problem formalization is relevant in PMs’ DPAs. The ample literature on the DPA of Stewart platforms well documents this point. This paper addresses the DPA of a particular translational PM of 3-URU type, which has the actuators on the frame while the actuated joints are not adjacent to the frame. The problem formulation brings to a closure-equation system consisting of three irrational equations in three unknowns. Such a system is transformed into an algebraic system of four quadratic equations in four unknowns that yields a univariate irrational equation in one of the four unknowns and three explicit expressions of the remaining three unknowns. Then, an algorithm is proposed which is able to find only the real solutions of the DPA. The proposed solution technique can be applied to other DPAs reducible to a similar system of irrational equations and, as far as this author is aware, is novel.
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