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.

Actuation Arrangement of Rigid Foldable Waterbomb Origami


A novel approach is proposed to arrange the actuations of rigid foldable waterbomb origami with multiple facet loops such that the number of actuations equaled the degrees-of-freedom (DOF) of the origami. In this approach, the rigid waterbomb origami was regarded as a combination of three types of six-crease origami units, which is equivalent to spherical 6R mechanisms with three DOF. Then, clear, target, and arrangement parts were created to define the facets of the origami pattern in the proposed extrapolation method. The actuation arrangement for a waterbomb origami pattern, which extended outwards circumferentially from a six-crease origami unit, was completed, and adams software was used to verify the correctness of the arrangement. Finally, an intuitive mathematical method was used to arrange the actuations for this type of waterbomb origami. The proposed approach provided DOF for the rigid foldable waterbomb origami and facilitated an actuation design such that the origami exhibits unique motion and can be normally actuated.

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