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RISMotion Analysis and Orientation Holding Control of a 3-RRR Rigid-Flexible Coupling Mechanism for Photovoltaic Panel Assembly
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article is concerned with the design and control of a 3-Revolute-Revolute-Revolute Parallel Manipulator (3-RRR) rigid-flexible coupling mechanism, to meet the high flexibility and stability requirements for holding ...
Modified First-Order Compound Function-Based Interval Perturbation Method for Luffing Angular Response of Dual Automobile Crane System With Interval Variables
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: The accuracy of conventional crane engineering problems with bounded uncertainty is limited to cases where only first-order terms are retained. However, the impact of high-order terms on the luffing angular response (LAR) ...
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 ...
Static Response Analysis of a Dual Crane System Using Fuzzy Parameters
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Static response analysis of a dual crane system (DCS) is conducted using fuzzy parameters. The fuzzy static equilibrium equation is established and two fuzzy perturbation methods, including the compound function/fuzzy ...
Special Issue on Rehabilitation Robots, Devices, and Methodologies
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Most of the developed countries are encountering an aging society, which brings an increasing morbidity of neuromuscular disabilities and diseases, such as stroke, Alzheimer, etc. Rehabilitation has proven to be an effective ...
Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design, analysis, and development of a novel four degrees of freedom (4-DOF) endoscopic robot with cable-driven multisegment flexible continuum mechanisms. The endoscopic robot is mainly composed ...
Design, Modeling, and Evaluation of a Hybrid Driven Knee-Ankle Orthosis With Shape Memory Alloy Actuators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper demonstrates the mechanical design, analysis, and evaluation of a knee-ankle orthosis (KAO) for lower limb rehabilitation, including shape memory alloy (SMA) actuators and DC brushless motor actuators. First, ...
Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a robotic ankle–foot orthosis (AFO) is developed for individuals with a paretic ankle, and an impedance-based assist-as-needed controller is designed for the robotic AFO to provide adaptive assistance. First, ...
Hybrid Compound Function/Subinterval Perturbation Method for Kinematic Analysis of a Dual-Crane System With Large Bounded Uncertainty
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: By introducing the subinterval perturbation method (SIPM), a hybrid compound function/subinterval perturbation method (HCFSPM) is presented for a dual-crane system (DCS) with large interval variables. The HCFSPM employs ...
Design and Optimization of a Cable-Driven Parallel Polishing Robot With Kinematic Error Modeling
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents the design and optimization of a cable-driven parallel polishing robot (CDPPR) with kinematic error modeling and introduces an improved nondominated sorting genetic algorithm II (NSGA-II) for ...