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.

Folding Responses of Origami-Inspired Structures Connected by Groove Compliant Joints


The compliant mechanism can effectively reduce friction and eliminate the joint gap during the motion. The performances of compliant joints directly determine the overall behavior of mechanisms. In this paper, a new type of compliant joint is designed based on weakened creases and elastic–plastic materials. Parametric analysis is carried out to investigate the influence of compliant joint details on its structural performances by combining finite element methods and experiments. The compliant joints are evaluated and optimized regarding the rotational stiffness and plastic strain magnitude of the slot region. In addition, the optimized compliant joint is introduced to the Miura unit. The configuration analysis is performed for the folding, unfolding, and releasing processes, which are further extended to the discussion on the cyclic performance of the compliant joint. It can be found that the origami-inspired structures can maintain a high residual stiffness after the release process. Finally, the methodology is applied to the Miura origami array embedded with the designed compliant joint. The results of dimensional errors and stress distributions can show that the design of the compliant joints can effectively control the configuration of the Miura origami array. The principle in this paper can open a new avenue to design and utilize the compliant in the deployable or morphing structures.

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