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RISOn the Geometry of Stiffness and Compliance Under Concatenation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Eigentwists and eigenwrenches capture the stationary stiffness behavior of compliant mechanisms and can be related to a mechanism’s primary kinematic behavior. The nature of concatenation of multiple mechanism building ...
Kinematics of a Generalized Class of Pneumatic Artificial Muscles
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Fluid filled fiber reinforced elastomeric enclosures (FREEs) have been a popular choice for actuators in prosthetics and soft robots owing to their high power density and cost effective manufacturing. While a narrow class ...
A Kinetostatic Formulation for Load Flow Visualization in Compliant Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Load flow visualization, which is an important step in structural and machine assembly design may aid in the analysis and eventual synthesis of compliant mechanisms. In this paper, we present a kinetostatic formulation to ...
A Metric to Evaluate and Synthesize Distributed Compliant Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Compliant mechanisms with evenly distributed stresses have better loadbearing ability and larger range of motion than mechanisms with compliance and stresses lumped at flexural hinges. In this paper, we present a metric ...
Overview and Kinetostatic Characterization of Compliant Shell Mechanism Building Blocks
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Compliant shell mechanisms utilize thin-walled structures to achieve motion and force generation. Shell mechanisms, because of their thin-walled nature and spatial geometry, are building blocks for spatial mechanism ...
Synthesis and Analysis of Soft Parallel Robots Comprised of Active Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we introduce a new type of spatial parallel robot that is comprised of soft inflatable constraints called trichamber actuators (TCAs). We extend the principles of the freedom and constraint topologies (FACT) ...
Shape Optimization Framework for the Path of the Primary Compliance Vector in Compliant Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The primary compliance vector (PCV) captures the dominant kinematic behavior of a compliant mechanism. Its trajectory describes large deformation mechanism behavior and can be integrated in an optimization objective in ...
Unified Stiffness Characterization of Nonlinear Compliant Shell Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Compliant shell mechanisms utilize spatially curved thin-walled structures to transfer or transmit force, motion, or energy through elastic deformation. To design spatial mechanisms, designers need comprehensive nonlinear ...
Joint Special Issue: Design and Control of Responsive Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Robots are complex controlled dynamical systems interacting with their environment. Agile robotic systems have been penetrating almost all industrial sectors as the backbone for industrial automation, ranging from heavy ...