Prediction of Human Reaching Pose Sequences in Human–Robot Collaboration

Abstract In human–robot collaboration, robots and humans must work together in shared, overlapping, workspaces to accomplish tasks. If human and robot motion can be coordinated, then collisions between robot and human can seamlessly be avoided without requiring either of them to stop work. A key part of this coordination is anticipating humans’ future motion so […]

New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer

Abstract This paper presents a novel two degrees-of-freedom planar parallel manipulator (PPM) designed for infinite-axis 3D printing, alongside tools for facilitating future design iterations. Unlike traditional gantry-supported designs used in infinite-axis 3D printing, which impose significant mass movement requirements, the examined new design prioritizes reducing overall weight to enhance speed potential at the cost of […]

Analytical Modeling and Validation of New Prismatic Compliant Joints Based on Zero Poisson’s Ratio Lattice Structures

Abstract The design and analysis of prismatic compliant joints have received less attention compared to that given to revolute compliant joints, thus limiting their implementation in compliant mechanisms beyond translational stages. Lattice structures have been used effectively to increase flexibility and stiffness ratios in compliant joints. Considering these, new prismatic compliant joints based on zero […]

Design and Analysis of a Symmetric Overconstrained Compliant Tilt/Tip Stage Based on a Hybrid Transmission Ratio Model

Abstract Developing a compliant mechanism that have potential in parasitism suppression and cross-axis decoupling is a major challenge to meet the requirement of spatial micro-/nano positioning. This work introduces a compliant tilt/tip stage design with a symmetric and overconstrained configuration that is equipped with four reverse bridge notch flexure amplifiers (RBNFAs) and five revolute notch […]

Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics

Abstract Redundant non-serial manipulators that include a spectrum of parallel and non-parallel heavy load bearing construction and material handling equipment are treated, using foundations of differential geometry. Kinematics of this category of manipulator are defined in manipulator configuration space by algebraic equations in input and output coordinates that cannot be explicitly solved for either as […]

Analytic Center-Based Tension Distribution for Cable-Driven Platforms

Abstract A redundant cable-driven platform (CDP) is composed of m cables that exceed the degree-of-freedom (DoF) of the end-effector. The choice of tension along the cables admits infinite solutions. This paper proposes the use of the analytic center to solve the tension distribution problem. Adopting this technique allows finding tensions far from the tension limits, […]

Bistable Aerial Transformer: A Quadrotor Fixed-Wing Hybrid That Morphs Dynamically Via Passive Soft Mechanism

Abstract Aerial vehicle missions require navigating trade-offs during design, such as the range, speed, maneuverability, and size. Multi-modal aerial vehicles enable this trade-off to be negotiated during flight. This paper presents a Bistable Aerial Transformer (BAT) robot, a novel morphing hybrid aerial vehicle that switches between quadrotor and fixed-wing modes via rapid acceleration and without […]

Series Clutched Actuation for Collision-Tolerant High-Speed Robots

Abstract Collisions at high-speed can severely damage robots with non-backdrivable drivetrains. Adding an overload clutch in series can improve the robot’s collision tolerance without compromising its high dynamic performance. This paper aims at determining the speed above which overload clutches are required in a two-link manipulator arm. Furthermore, the optimal clutch topology as function of […]