Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot
Abstract Conventional parallel robots are made of rigid materials for the purpose of fast and accurate localization, exhibiting limited performance in large-scale operations. Inspired by the softness and natural compliance of biological systems, this article proposes a rigid-flexible coupling cable-driven parallel robot. The concept of flexible cable and spring hybrid and working principle are introduced. […]
Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors
Abstract Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This article reports the design of novel reconfigurable parallel linkages that not only produce different walking patterns […]
Necessary and Sufficient Design Conditions for Overconstrained Cam Mechanisms With Flat-Faced and Roller Follower
Abstract Cam, a mechanism usually used to transform a rotary motion into the desired output motion, has been commonly used in the modern industry. In practice, various practical methods have been discussed to analyze and synthesize the cam mechanism. However, the mobility of the cam mechanism is seldom mathematically addressed. This article mathematically discusses the […]
Performance Analysis of a Hexagon Rolling Mechanism With Single Degree of Freedom
Abstract This article presents a comprehensive performance analysis of the step-climbing and passive rolling modes of a hexagon rolling mechanism with single-degree-of-freedom, based on its structural characteristics and the constraints of centroid stability. First, a step-climbing model, incorporating motion parameters and support distance parameters, is established by leveraging the symmetrical posture movement characteristics of the […]
Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance
Abstract Respiratory assistance is of significant importance for achieving pulmonary rehabilitation in individuals with weakened respiratory muscles. Soft actuators have great potential in rehabilitation application; yet, there is little research on soft respiratory rehabilitation robots. This article presents a novel bidirectional asymmetric accordion-type soft robot capable of generating chest expansion and contraction actions, designed for […]
Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace
Abstract To address the issues of strong motion coupling, high control difficulty, and insufficient degrees-of-freedom (DoFs) in existing bio-syncretic parallel hip exoskeletons, a design scheme characterized by weak coupling is proposed. A configuration synthesis method for weakly coupled parallel hip exoskeletons is introduced by deriving the conditions that the transmission wrench screws (TWSs) in each […]
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Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution
Abstract This article addresses the kinematic control of a redundant soft robotic arm. Full pose kinematic control of soft robots is challenging because direct application of the classical controllers developed based on rigid robots to soft robots could lead to unreliable or infeasible motions. In this study, we explore the manipulability property of a soft […]
Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots
Abstract Cable-driven parallel robots (CDPRs) have attracted much attention due to a lot of advantages over conventional parallel robots. One of the main issues is the stability of the robot, which employs cables with strong flexibility and unidirectional restraint to operate the end-effector leads. As a result, this presented article aims to propose a systematic […]
Error Propagation Analysis of Kinematic Quantities for Robots and Mechanisms
Abstract We introduce a comprehensive methodology for calculating the propagation of errors in kinematic quantities up to the jerk for robotic systems and mechanical linkages. Our study utilizes two distinct computational approaches: a deterministic method that relies on derivative calculations, and a stochastic method that utilizes Monte Carlo simulations. Kinematic quantities are computed using dual […]
