Design, Control, and Experimental Validation of a Handshaking Reactive Robotic Interface
February 2016

This work aims at developing a robot hand that is specifically designed to perform a handshake with a person. The hand includes the capability to `feel’ the forces applied by the human user. Therefore, it can also be used as a haptic handshaking system connecting two people performing a remote handshake with haptic feedback.

Using Rigid-Body Mechanism Topologies to Design Path Generating Compliant Mechanisms
February 2016

This paper shows how the design of path generating compliant mechanisms can be improved in a number of ways.

Optimal Design of Safe Planar Manipulators Using Passive Torque Limiters
February 2016

This work aims at developing passive torque limiting devices that can be mounted in the structure of a robot in order to provide an effective and robust means of ensuring safety in human robot physical interactions. The geometric arrangement of the torque limiters is key to guarantee their effectiveness in all configurations of the robot.

Three-Position Synthesis of Origami-Evolved, Spherically Constrained Spatial Revolute–Revolute Chains
February 2016

Based on the Miura-ori origami pattern a mechanism family with naturally given slim shape may be evolved. Kinematic synthesis allows task-specific design, which is demonstrated in a car door guidance task. The result is a spatial car door guidance linkage that satisfies particularly given space requirements of the task.

Novel Robotic Manipulator With Four Screws for Automated Storage and Retrieval System
February 2016

A novel 4-screw robotic manipulator (FSR manipulator) used in automated storage and retrieval system (AS/RS) is designed. Microplates, which have a projection, are mounted on the four screws. Mathematical modeling, force analysis, static analysis and simulations are conducted. Compared with the existing robot hands, the FSR manipulator is simpler in mechanical structure and control system.

Design and Analysis of 3R2T and 3R3T Parallel Mechanisms With High Rotational Capability
February 2016

A new nonrigid (or articulated) moving platform with passive joints is proposed to reduce the interference between limbs and the moving platform. Then several 3R2T and 3R3T parallel mechanisms are synthesized by use of the proposed moving platform and Lie group theory. Finally, the rotational capability of the synthesized parallel mechanisms is exemplified by the kinematic analysis of one 3R3T parallel mechanism.