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.

Rigid-Foldable Mechanism Inspired by Origami Twisted Tower


Rigid origami mechanisms have great practical utility in different fields. This paper presents a rigid and foldable mechanism based on the origami artwork Twisted Tower. The mathematical model of the funnel-shaped tower cell was developed for the first time, which accurately describes its kinematic behavior. Based on this model, criteria for the appropriate geometry of the tower components are proposed to prevent internal interference in the tower mechanism during the twisting movement. In this paper, two geometric design cases of twisted tower mechanisms, including a normal-shaped tower and a heteromorphic tower, are presented. Several additional modifications were also imposed to adapt the proposed mechanism to generalized and standardized manufacturing and assembly. Experimental results illustrate that the kinematic characteristics of the fabricated mechanism meet its designed performance. Furthermore, the proposed mechanism is suitable for applications such as continuum manipulators, which exhibit much better resistance to external loads than their flexible-rigid hybrid counterparts.

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