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.

Design of a 3-Degrees-of-Freedom Cable-Driven Parallel Robot for Automated Construction Based on Workspace and Kinematic Sensitivity


In recent years, there has been an increased interest in automating construction tasks to produce more affordable houses at an increased production rate. With this in mind, this article explores the design of a suspended cable-driven parallel robot (CDPR) used as an automated platform for in situ construction. The selected robot topology arranges pairs of cables in parallel to connect the frame and mobile platform. This forms a series of parallelograms that restrict the mobile platform to a pure translational motion so long as the cables are maintained in tension. Contrary to previous works, the CDPR is parameterized to allow more freedom in the definition of the orientation of the parallelograms. The CDPR is designed based on workspace and kinematic sensitivity requirements, while avoiding singularities and mechanical interferences throughout the robot’s desired workspace. The result is an optimal CDPR based on the targeted 3D printing and pick-and-place tasks. It is shown that the parallelogram’s orientation can be selected to improve the robot’s kinematic sensitivity.

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