Search
CSV
RISSteady-State Heat-Flow Coupling Field of a High-Power Magnetorheological Fluid Clutch Utilizing Liquid Cooling
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Compared with traditional speed regulation (SR) approaches like variable frequency and hydraulic coupling, magnetorheological clutch (MRC) provides a more superior solution for high-efficiency energy saving SR. However, ...
Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Microlaryngoscopic surgery is a type of laryngeal surgery performed by surgeons using microsurgical instruments under the observation of a specially designed laryngoscope. While performing a microlaryngoscopic operation, ...
Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cable-driven parallel robots (CDPRs) are a kind of mechanism with large workspace, fast response, and low inertia. However, due to the existence of various sources of error, it is unavoidable to bring uncertain cable lengths ...
Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents the design, development, and motion control of a novel flexible robotic laparoscope (FRL). The main structure of the FRL includes a two degrees-of-freedom (DOFs) continuum mechanism driven by two pairs ...
A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The implementation of the high-precision tracking control and external force-sensing ability of a manipulator is important for achieving refined surgical robot operation. In this paper, a hybrid method based on data-driven ...
Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a new trajectory planning method based on the improved quintic B-splines curves for a three degrees-of-freedom (3-DOF) cable-driven parallel robot (CDPR). First, the conditions of positive cables’ tension ...
Design of a Novel Flexible Robotic Laparoscope Using a Two DegreesofFreedom CableDriven Continuum Mechanism With Major Arc Notches
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents the design, development, and motion control of a novel flexible robotic laparoscope (FRL). The main structure of the FRL includes a two degreesoffreedom (DOFs) continuum mechanism driven by two pairs ...