Keyword: robot design
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.
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.
This work is to introduce the shape-memory-alloy (SMA) as an actuator to an origami parallel mechanism as a section of a novel worm robot. The work presents the design and manufacture of this active origami mechanism and the integrated SMA linear actuators for the worm robot. The use of SMA coil spring actuators provides a novel actuation method using linear actuators for parallel structures composed of only revolute joints, leading to actuation transference between rotary input and linear input. The presented principle of folding a flat sheet to a 3D structure is a step change approach to design and manufacture of fully-integrated robotic mechanisms.
Origami-inspired robot designs have the potential to be faster, cheaper, and easier to fabricate than robots made through traditional manufacturing methods. In this paper, we show how a variety of basic joints used in robots can be folded from a flat sheet. The joints can be combined with each other and with rigid bodies to produce entire foldable linkages that can be actuated using circuitry integrated directly on the linkage surface. We have designed, folded, and actuated two robots using our joints, showing that it is possible to create robots using a uniform print and fold process.
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.