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RISRotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper extends the concept of underactuated redundancy for physical human–robot interaction (pHRI) in a context of industrial assembly by introducing a novel 1-dof gravity balanced rotational manipulator. The proposed ...
Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces a novel compact three-degree-of-freedom (DOF) parallel robot that will be used as a leg of a 9-DOF kinematically redundant parallel robot. First, the kinematic model of the robot is established based ...
Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Manipulators are increasingly being called upon to perform a wide range of tasks. This paper explores the maximal distance throwing task for robotic manipulators and shows that this characteristic can be incorporated in ...
Kinematic Analysis of a Novel Kinematically Redundant Spherical Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces a new architecture of spherical parallel robot which significantly extends the workspace when compared to existing architectures. To this end, the singularity locus is studied and the design parameters ...
Analysis and Design of a Novel Compact ThreeDegreeofFreedom Parallel Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces a novel compact threedegreeoffreedom (DOF) parallel robot that will be used as a leg of a 9DOF kinematically redundant parallel robot. First, the kinematic model of the robot is established based on ...
Reorientation of Free-Falling Legged Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Based on the cat-righting reflex, this paper presents two reorientation maneuvers for legged robots that can produce roll and pitch reorientation during free fall. In order to better describe and plan these maneuvers, two ...
Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the mechanical design of a six-degree-of-freedom low-impedance displacement sensor. The sensor is mounted around a link of a serial robot and used as an interface for physical human–robot interaction. ...
Dynamic Point-To-Point Trajectory Planning for Three Degrees-of-Freedom Cable-Suspended Parallel Robots Using Rapidly Exploring Random Tree Search
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a dynamic point-to-point trajectory planning technique for three degrees-of-freedom (DOFs) cable-suspended parallel robots. The proposed technique is capable of generating feasible multiple-swing ...
Passively Driven Redundant Spherical Joint With Very Large Range of Motion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a novel passive redundant spherical joint with a very large range of motion. A kinematic model is first developed in order to provide a framework for the analysis. The principle of the redundant joint ...
Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents methods to exploit the redundancy of a kinematically redundant spatial parallel mechanism with three redundant DOFs. The architecture of the mechanism is similar to the well-known Gough–Stewart (GS) ...