Self-Identification of Cable-Driven Exoskeleton Based on Asynchronous Iterative Method

Abstract The upper limb rehabilitation exoskeleton with cable-driven parallel structure has the advantages of light weight and large payload, etc. However, due to the non-rigid nature of the actuating cables and the different body shape of the wearer, the geometric parameters of the exoskeleton have a large error. The parameter identification of cable-driven exoskeleton is […]

Development of a Biomimetic Masticating Robot for Food Texture Analysis

Abstract Assessing the food texture via mastication is important for advancing knowledge of food properties so as to develop favorable and healthy food products. Oral processing of food by robots can enable an in vitro assessment of food texture by simulating human mastication objectively. In this study, a chewing robot is developed to mimic the […]

Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions

Abstract This article addresses the path synthesis of RCCC (revolute-cylindrical-cylindrical-cylindrical) linkages, a problem that has not received due attention in the literature. Compared with planar and spherical four-bar linkages, a RCCC linkage has many more design parameters, which lead to a complex formulation of the path synthesis problem and, consequently, to a quite challenging system […]

Robotic Tensegrity Structure With a Mechanism Mimicking Human Shoulder Motion

Abstract This paper proposes a three degrees-of-freedom tensegrity structure with a mechanism inspired by the ligamentous structure of the shoulder. The proposed mechanism simulates the wide motion ranges of the human shoulder joint and is composed of 3 rigid bodies and 16 steel wires with 3 mutually perpendicular rotating axes. Since it belongs to the […]

Kinematics of a Cable-Driven Robotic Platform for Large-Scale Additive Manufacturing

Abstract Concrete additive manufacturing (AM) is a growing field of research. However, on-site, large-scale concrete additive manufacturing requires motion platforms that are difficult to implement with conventional rigid-link robotic systems. This article presents a new kinematic arrangement for a deployable cable-driven robot intended for on-site AM. The kinematics of this robot are examined to determine […]

Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions

Abstract This paper deals with the structure synthesis and reconfiguration analysis of variable-DOF (variable-degree-of-freedom) single-loop mechanisms with prismatic joints based on a unified tool—the dual quaternion. According to motion polynomials over dual quaternions, an algebraic method is presented to synthesize variable-DOF single-loop 5R2P mechanisms (R and P denote revolute and prismatic joints, respectively), which are […]

Design of a Parallel Gripper Based on Topology Synthesis and Evolutionary Optimization

Abstract A compliant gripper with nearly parallel gripping motion is developed by a topology synthesis and a dimensional synthesis approach. The topology synthesis process can generate linkage-type compliant mechanisms. Suitable boundary conditions of the topology synthesis process are selected to achieve the desired functions of the device. The dimensional synthesis is based on an evolutionary […]

Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects

Abstract This article focuses on a method to relocate the robotic fingertips on the surface of the object when the fingertips instantaneously hold the object under precision grasp. Precision grasp involves holding the object using fingertips. Finger gaiting involves repositioning the fingertips on the surface of the object and then manipulation of the object. During […]

Stiffness Compensation Through Matching Buckling Loads in a Compliant Four-Bar Mechanism

Abstract In this paper, a novel alternative method of stiffness compensation in buckled mechanisms is investigated. This method involves the use of critical load matching, i.e., matching the first two buckling loads of a mechanism. An analytical simply supported five-bar linkage model consisting of three rigid links, a prismatic slider joint, and four torsion springs […]