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.

Configuration Synthesis Method of Multi-Mode Parallel Mechanism Based on Variable Mobility Branch


In order to obtain more configurations of multi-mode parallel mechanism with the expected motion modes, a new configuration synthesis method of multi-mode parallel mechanism is proposed in this paper. The generation principle of parallel mechanism with multiple motion modes is analyzed. The relation between the motion of moving platform and the motion of branch is obtained. The finite motion and instantaneous motion of existing variable mobility branches are analyzed, and variable mobility branches are decomposed into variable mobility generators. By using variable mobility generators to construct variable mobility branches, a configuration synthesis method of multi-mode parallel mechanism based on variable mobility branch is proposed. Taking the multi-mode parallel mechanism with 2T1R and 2R1T motion modes as an example, a new class of multi-mode parallel mechanisms is obtained. The proposed method enriches the configuration synthesis theory of multi-mode parallel mechanism and the synthesis results enrich the configurations of multi-mode parallel mechanism.

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