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RISA General Approach to the Large Deflection Problems of Spatial Flexible Rods Using Principal Axes Decomposition of Compliance Matrices
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a general discretization-based approach to the large deflection problems of spatial flexible links in compliant mechanisms. Based on the principal axes decomposition of structural compliance matrices, ...
A New Type of Planar Two Degree-of-Freedom Remote Center-of-Motion Mechanism Inspired by the Peaucellier–Lipkin Straight-Line Linkage
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Benefiting from small incisions, reduced risk of infection, less pain, and fast recovery, minimally invasive surgery has shown tremendous advantages for patients. In these kinds of procedures, remote center-of-motion (RCM) ...
Design and Kinematic Analysis of a Flexible-Link Parallel Mechanism With a Spatially Quasi-Translational End Effector
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Intrinsic passive compliance of flexible-link parallel mechanisms makes them suitable for situations where compliant manipulation is necessary. In this work, through using elastic rods as limbs, a flexible-link parallel ...
Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: For practical applications of interactive manipulation, active contact control is one of the fundamental functions that flexible-link parallel mechanisms (FLPMs) should be equipped with. In this paper, a force control ...
Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a spherical parallel continuum manipulator (SPCM) which is the flexible version of the 3-RRR“Agile Eye” mechanism is proposed and analyzed. The SPCM consists of three parallel flexible limbs, each limb is ...
Design of an Actuation Device With the Capability of Automatically Distributing External Load Based on Stability Theorems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Actuation redundancy is widely used to enhance loadcarrying capability of robot manipulators; however, it also causes the problems of uneven load distribution and internal forces. This paper presents a redundant actuation ...
Identification of Canonical Basis of Screw Systems Using General-Special Decomposition
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The theory of screws plays a fundamental role in the field of mechanisms and robotics. Based on the rank-one decomposition of positive semidefinite (PSD) matrices, this paper presents a new algorithm to identify the canonical ...
Design of a Spatial Translation Mechanism by Optimizing Spatial Ground Structures and Its Kinematic Analysis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In our previous work, we designed a three-degrees-of-freedom (3DOF) translational parallel mechanism based on a proposed design strategy. In this paper, the design strategy is further improved, and a novel spatial translation ...
Sequentially Assembled Reconfigurable Extended Joints: Self-Lockable Deployable Structure
Publisher: American Society of Civil Engineers
Abstract: As focal length significantly affects the performance of a telescope, the performance of spatial telescopes in astrophysical missions is mainly limited by the launchers’ capabilities. An appealing solution is a deployable ...
Realizing Controllable Physical Interaction Based on an Electromagnetic Variable Stiffness Joint
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper puts forward a linear variable stiffness joint (VSJ) based on the electromagnetic principle. The VSJ is constituted by an annular permanent magnet (PM) and coaxial cylindrical coil. The output force and stiffness ...