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RISA Unidirectional Series-Elastic Actuator Design Using a Spiral Torsion Spring
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a novel series-elastic actuator (SEA) design that uses a spiral torsion spring to achieve drivetrain compliance in a compact and efficient mechanism. The SEA utilizes ...
Function Generation With Finitely Separated Precision Points Using Geometric Constraint Programming
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper extends geometric constraint programming (GCP) to function generation problems involving large numbers of finitely separated precision points and complex mechanisms. In parametric design ...
Trajectory Tracking via Independent Solutions to the Geometric and Temporal Tracking Subproblems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Trajectory tracking is accomplished by obtaining separate solutions to the geometric path-tracking problem and the temporal tracking problem. A methodology enabling the geometric tracking of a ...
Design of Planar, Shape-Changing Rigid-Body Mechanisms for Morphing Aircraft Wings
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a procedure to synthesize planar rigid-body mechanisms, containing both prismatic and revolute joints, capable of approximating a shape change defined by a set of morphing ...
Synthesis of Planar Rigid-Body Mechanisms Approximating Shape Changes Defined by Closed Curves
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a procedure to synthesize planar linkages, composed of rigid links and revolute joints, that are capable of approximating a shape change defined by a set of closed curves ...
Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N−1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an analysis to create a general singularity condition for a mechanism that contains a deformable closed contour. This kinematic architecture is particularly relevant to ...
Assessing Position Order in Rigid Body Guidance: An Intuitive Approach to Fixed Pivot Selection
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Several established methods determine if an RR dyad will pass through a set of finitely separated positions in order. The new method presented herein utilizes only the displacement poles in ...
Kinematic Synthesis for Finitely Separated Positions Using Geometric Constraint Programming
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an original approach to the kinematic synthesis of planar mechanisms for finitely separated positions. The technique, referred to here as geometric constraint programming, uses ...
Kinematic Synthesis of Planar, Shape-Changing Rigid-Body Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a kinematic procedure to synthesize planar mechanisms, composed of rigid links and revolute joints, capable of approximating a shape change defined by a set of curves. These ...
Design of Series-Elastic Actuators for Dynamic Robots With Articulated Legs
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A series-elastic actuator (SEA) can provide remarkable performance benefits in a robotic system, allowing the execution of highly dynamic manuevers, such as a jump. While SEAs have been used ...