Design and Dynamic Analysis of a Bio-Inspired Rolling Joint Manipulator Based on Pulley-Cable System
Abstract Cable-driven joints have gained widespread use in various applications, yet the inherent limitations in cable stiffness and strength pose challenges in ensuring joint stability and operational safety. Enhancing joint stiffness and predicting cable tension changes during motion are essential to mitigate the risk of cable breakage. This article presents the design of a novel […]
Design, Analysis, and Development of a Novel 6-Degrees-of-Freedom Surgical Robot Using Cable-Driven Composite Continuum Mechanisms With Decoupling Kinematic Method
Abstract This article investigates decoupled motion control and dimension optimization of composite notched continuum mechanisms. In general, the end-effectors of endoscopic surgical robots predominantly consist of rigid articulated actuators, which exhibit limited maneuverability and face challenges in constrained operational environments. The introduction of continuum mechanisms has emerged as a key solution to address these limitations. […]
A New Method for Motion-Decoupling Identification of Parallel Mechanisms
Abstract Motion-decoupling identification (MDI) for parallel mechanism (PM) is a significant issue in the analysis and design of PMs. In general, people use the Jacobian matrix method to determine whether a given PM has motion-decoupling property. However, the process of which is more complicated and time-consuming. Based on the topology analysis of the PMs, by […]
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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 […]
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 […]
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 […]
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 […]
