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RISA Review of Cuspidal Serial and Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. ...
NAVARO II, a Novel Scissor-Based Planar Parallel Robot1
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanism is an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the three legs ...
Novel Kinematics of an Anthropomorphic Prosthetic Hand Allowing Lateral and Opposite Grasp With a Single Actuator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work introduced a new hand prosthesis architecture able to achieve an opposite and lateral grasp by using a single actuator. An analysis of the hand prostheses, as well as the movements classically performed in daily ...
An Optimal Design of a Flexible Piping Inspection Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This study presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired piping inspection robot that moves like a caterpillar was designed and developed at LS2N, France. By the addition ...
A Review of Cuspidal Serial and Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. ...
Robust Robot Placement and Tool Geometry Optimization for Continuous Cutting and Welding Trajectories Under Positioning Uncertainty
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. This article presents a task-oriented computational framework for robot base placement and tool center point (TCP) selection in continuous robotic applications such as welding and cutting, with a particular focus ...
Kinematics, Workspace, and Singularity Analysis of a Parallel Robot With Five Operation Modes
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Most multimode parallel robots can change operation modes by passing through constraint singularities. This paper deals with a comprehensive kinematic study of a three degrees-of-freedom (DOF) multimode three-PRPiR parallel ...
Literature Review on Endoscopic Robotic Systems in Ear and Sinus Surgery
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In otolaryngologic surgery, endoscopy is increasingly used to provide a better view of hard-to-reach areas and to promote minimally invasive surgery. However, the need to manipulate the endoscope limits the surgeon's ability ...
Design of an Efficient Non-Backdrivable Mechanism With Wrap Spring for Hand Prosthesis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The aim of this paper is to create a system that enables power transmission non-backdrivability in a hand prosthesis with a single actuator. This system allows the motor to be stopped while maintaining the gripping force ...
Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work proposed the design of a simple, robust, and inexpensive motion transmission for hand prostheses. The main challenge to be solved is to generate not only fast movements for the closing of the fingers during the ...