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.

Soft Robot Based on Hyperelastic Buckling Controlled by Discontinuous Magnetic Field


Most untethered magnetic soft robots are controlled by a continuously applied magnetic field. The accuracy of their motion depends completely on the accuracy of external magnetic field, consequently any slight disturbance may cause a dramatic change. Here, we report a new structure and driven method design to achieve a novel magnetic soft robot, denoted as “BUCK”, which can achieve accurate and stable locomotion with weakly dependence on the magnetic field. The robot BUCK consists of functional magnetic composite materials with one central transportation platform and four crawling arms, whose motion is mainly based on hyperelastic buckling and recovering of the arms. BUCK is capable of cargo transportation with multimodal locomotion, such as crawling, climbing, and turning with high adaptability to various surfaces. Due to the applied discontinuous magnetic field, BUCK consumes much less driven energy compared with conventional magnetic robots. Moreover, we develop theoretical and numerical models to rationally design the precisely controlled BUCK. Our study shows applications in terms of transportation functions, such as for optical path adjustments and photographic tasks in complex circumstances. This work also provides new ideas on how to utilize nonlinear deformation more efficiently; one could combine the benefits for both the flexible electronics and actuation applications.
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