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RISA Compliant Hinge Joint Driven by the PneuNets Bending Actuator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: While soft robots enjoy the benefits of high adaptability and safety, their inherent flexibility makes them suffer from low load-carrying capacity and motion precision, which limits their applications to a broader range ...
A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents a novel soft robotic gripper with a high payload capacity based on the layer jamming technology. Soft robots have a high adaptability, however suffer a low payload capacity. To overcome these conflicting ...
A Versatile 3R Pseudo-Rigid-Body Model for Initially Curved and Straight Compliant Beams of Uniform Cross Section
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Rigid-body discretization of continuum elements was developed as a method for simplifying the kinematics of otherwise complex systems. Recent work on pseudo-rigid-body (PRB) models for compliant mechanisms has opened up ...
A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we present a novel compliant robotic gripper with three variable stiffness fingers. While the shape morphing of the fingers is cable-driven, the stiffness variation is enabled by layer jamming. The inherent ...
Accuracy Assessment of Pseudo-Rigid-Body Model for Dynamic Analysis of Compliant Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Dynamic characteristics analysis is very important for the design and application of compliant mechanisms, especially for dynamic and control performance in high-speed applications. Although pseudo-rigid-body (PRB) models ...
Speeding Up Topology Optimization of Compliant Mechanisms With a Pseudorigid-Body Model
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper seeks to speed up the topology optimization using a pseudorigid-body (PRB) model, which allows the kinetostatic equations to be explicitly represented in the form of nonlinear algebraic equations. PRB models can ...
Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Variable stiffness robots may provide an effective way of trading-off between safety and speed during physical human–robot interaction. In such a compromise, the impact force reduction capability and maximum safe speed are ...
A Comparative Study on the Effect of Mechanical Compliance for a Safe Physical Human–Robot Interaction
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we study the effects of mechanical compliance on safety in physical human–robot interaction (pHRI). More specifically, we compare the effect of joint compliance and link compliance on the impact force assuming ...
Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this article, we present a continuously tunable stiffness arm for safe physical human–robot interactions. Compliant joints and compliant links are two typical solutions to address safety issues for physical human–robot ...
The Kinematic Principle for Designing Deoxyribose Nucleic Acid Origami Mechanisms: Challenges and Opportunities1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Deoxyribose nucleic acid (DNA) origami nanotechnology is a recently developed self-assembly process for design and fabrication of complex three-dimensional (3D) nanostructures using DNA as a functional material. This paper ...