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RISSynthesis and Design of a One Degree of Freedom Planar Deployable Mechanism With a Large Expansion Ratio
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a new design of a deployable one degreeoffreedom (DOF) mechanism. Polygonal rigidlink designs are first investigated. Then, beltdriven links are considered in order to maximize the expansion ratio while ...
Time Optimal Trajectory Planning of Cable Driven Parallel Mechanisms for Fully Specified Paths With G1 Discontinuities
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Timeoptimal trajectory planning (TOTP) is a wellstudied problem in robotics and manufacturing, which involves the minimization of the time required for the operation point of a mechanism to follow a path, subject to a set ...
Construction, Mobility Analysis and Synthesis of Polyhedra With Articulated Faces
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The concept of polyhedra with articulated faces is investigated in this paper. Polyhedra with articulated faces can be described as polyhedral frameworks, whose faces are constrained to remain planar. A mechanical arrangement ...
Trajectory Generation for Three Degree of Freedom Cable Suspended Parallel Robots Based on Analytical Integration of the Dynamic Equations
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a trajectory generation technique for three degreeoffreedom (3dof) planar cablesuspended parallel robots. Based on the kinematic and dynamic modeling of the robot, positive constant ratios between cable ...
Optimal Design of Safe Planar Manipulators Using Passive Torque Limiters
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a synthesis approach to build safe planar serial robotic mechanisms for applications in human–robot cooperation. The basic concept consists in using torque limiting devices that slip when a prescribed ...
A Comparison of the Effectiveness of Design Approaches for Human Friendly Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, different measures for reducing the maximum contact force during blunt collisions between a robot and a human are evaluated using simulations. An existing collision model is adapted to include a nonlinear ...
Two Degree of Freedom Decoupled Nonredundant Cable Loop Driven Parallel Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A novel twodegreeoffreedom (DOF) cableloop sliderdriven parallel mechanism is introduced in this paper. The novelty of the mechanism lies in the fact that no passive rigidlink mechanism or springs are needed to support the ...
Force Capabilities of Two Degree of Freedom Serial Robots Equipped With Passive Isotropic Force Limiters
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes the use of passive force and torque limiting devices to bound the maximum forces that can be applied at the endeffector or along the links of a robot, thereby ensuring the safety of human–robot ...
A Vector Expression of the Constant Orientation Singularity Locus of the Gough–Stewart Platform
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a vector expression of the constantorientation singularity locus of the general Gough–Stewart platform. The thirddegree vector expression obtained does not contain a constant term, which allows the ...
Design, Control, and Experimental Validation of a Handshaking Reactive Robotic Interface
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The objective of this work is to develop a communication system that allows two people to shake hands while being in different locations. To this end, a novel haptic interface that is capable of performing a robotic handshake ...