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RISA Review of Cuspidal Serial and Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. ...
NAVARO II, a Novel Scissor-Based Planar Parallel Robot1
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanism is an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the three legs ...
Novel Kinematics of an Anthropomorphic Prosthetic Hand Allowing Lateral and Opposite Grasp With a Single Actuator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work introduced a new hand prosthesis architecture able to achieve an opposite and lateral grasp by using a single actuator. An analysis of the hand prostheses, as well as the movements classically performed in daily ...
An Optimal Design of a Flexible Piping Inspection Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This study presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired piping inspection robot that moves like a caterpillar was designed and developed at LS2N, France. By the addition ...
A Review of Cuspidal Serial and Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. ...
Kinematics, Workspace, and Singularity Analysis of a Parallel Robot With Five Operation Modes
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Most multimode parallel robots can change operation modes by passing through constraint singularities. This paper deals with a comprehensive kinematic study of a three degrees-of-freedom (DOF) multimode three-PRPiR parallel ...
Literature Review on Endoscopic Robotic Systems in Ear and Sinus Surgery
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In otolaryngologic surgery, endoscopy is increasingly used to provide a better view of hard-to-reach areas and to promote minimally invasive surgery. However, the need to manipulate the endoscope limits the surgeon's ability ...
Design of an Efficient Non-Backdrivable Mechanism With Wrap Spring for Hand Prosthesis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The aim of this paper is to create a system that enables power transmission non-backdrivability in a hand prosthesis with a single actuator. This system allows the motor to be stopped while maintaining the gripping force ...
Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work proposed the design of a simple, robust, and inexpensive motion transmission for hand prostheses. The main challenge to be solved is to generate not only fast movements for the closing of the fingers during the ...
A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: According to the topological design theory and the method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a three-degrees-of-freedom (3-DOF) translational PM ...