Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

Abstract This article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is […]

Modeling of Flexible-Link Manipulators Under Uncertain Parameters Based on Stochastic Finite Element Method

Abstract This paper presents a novel approach to obtain the dynamic model of flexible-link manipulators based on the stochastic finite element method. The links and elements of flexible manipulators are affected by uncertainties. The main sources of uncertainties include the variation of mechanical properties. The present research study conveys the following contributions: (i) modeling the […]

Position-Access Workspace of Slender Soft Manipulators

Abstract In this article, we investigate the position-access workspace estimation of slender soft manipulators controlled via arranged bounded actuators. For this, we implement a so-called forward-backward approach on the mathematical model of the investigated soft robot deduced via the adopted Discrete Cosserat method. The proposed methodology is validated on several planar and spatial slender soft […]

Actuation Arrangement of Rigid Foldable Waterbomb Origami

Abstract A novel approach is proposed to arrange the actuations of rigid foldable waterbomb origami with multiple facet loops such that the number of actuations equaled the degrees-of-freedom (DOF) of the origami. In this approach, the rigid waterbomb origami was regarded as a combination of three types of six-crease origami units, which is equivalent to […]

Design and Control of SLPM-Based Extensible Continuum Arm

Abstract As an important branch of reconfigurable robots, extensible continuum robots are soft and light, with the flexibility of movement and high adaptability in complex environments. These robots have very broad applications in a variety of fields, including military reconnaissance, geological exploration and rescue operations. In this paper, a high folding ratio, flexible, and compact […]

Real-Time Reconfiguration Planning for the Dynamic Control of Reconfigurable Cable-Driven Parallel Robots

Abstract The movable anchor points make reconfigurable cable-driven parallel robots (RCDPRs) advantageous over conventional cable-driven parallel robots with fixed anchor points, but the movable anchor points also introduce an inherent problem—reconfiguration planning. Scholars have proposed reconfiguration planning approaches for RCDPRs, taking into account the statics and kinematics of RCDPRs. However, a real-time reconfiguration planning approach […]

Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations

Abstract Design optimizations of flexure-based mechanisms take a lot of computation time, in particular when large deformations are involved. In an optimization procedure, statically deformed configurations of many designs have to be obtained, while finding the statically deformed configuration itself requires tens to hundreds of load step iterations. The kinematically started deformation method (KSD-method) (Dwarshuis, […]

Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain

Abstract Modular active cell robots (MACROs) is a design approach in which a large number of linear actuators and passive compliant joints are assembled to create an active structure with a repeating unit cell. Such a mesh-like robotic structure can be actuated to achieve large deformation and shape-change. In this two-part paper, we use finite […]