Featured Papers

Design and Development of a High-Speed and High-Rotation Robot With Four Identical Arms and a Single Platform
November 2015

A novel parallel kinematic mechanism (PKM) with Schönflies motion has been proposed under the guidance of a graphical type synthesis method. This PKM is composed of four identical arms and a single platform, and has high rotational capability.

Control and Motion Planning of a Nonholonomic Parallel Orienting Platform
November 2015

A nonholonomic orienting platform with a passive spherical joint and two actuated translational joints is studied in the paper. The platform is underactuated and its motion must avoid mechanical singularities. In the paper there are algorithms developed for stabilization and motion planning. These algorithms keep platform trajectories within regions of regular configurations.

Definition and Computation of Tensegrity Mechanism Workspace
November 2015

Tensegrity mechanisms are mechanical systems composed of rigid struts maintained in compression by tensioned springs. Thanks to this very particular structure, these mechanisms exhibit several advantages for various applications, ranging from mobile robots to manipulators.

Synthesis of Planar Mechanisms for Pick and Place Tasks With Guiding Positions
August 2015

In this work we address a variation on the traditional rigid body guidance problem; the challenge of designing a mechanism to move something from “here” to “there”. The specific variation we address is the so called mixed exact and approximate synthesis problem in which the object is to begin and end its motion at precise positions and in between come as close as possible to an arbitrary number of guiding positions that have been chosen to shape the emotion of the object as it travels from “here” to “there”.

A New Approach to Design of a Lightweight Anthropomorphic Arm for Service Applications
August 2015

A new approach to the design of a lightweight robotic arm for service applications is proposed. The robot kinematics, dynamics, drive-train design and structural strength analysis are coupled together to form the optimization design approach. The major design objective is to achieve a lightweight robot with desired kinematic performance and compliance.

Millimeter-Scale Robotic Mechanisms Using Carbon Nanotube Composite Structures
May 2015

Smaller tools for robotic surgery will lead to reduced scarring and recovery times after surgery. However, the small-sized parts required for those tools are difficult to fabricate using conventional processes. In this paper, we demonstrate the fabrication of two potential tools for robotic surgery using a layered manufacturing process based on photolithography of carbon nanotube composite materials. Both tools fit into a cylinder with a 3 mm diameter, and both contain features with size on the order of 10 micrometers.