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RISA Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Designing a mechanism for elbow self-axis alignment requires the elimination of undesirable joint motion and tissue elasticity. The novelty of this work lies in proposing a double-layered interface using a 3-PRR planar ...
Parameter-Learning Active Disturbance Rejection Controller for a Novel Variable-Stiffness Gripper
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. The growing demand for flexible robotic grasping in industry calls for adaptable solutions capable of handling diverse objects across stiffness regimes. We present a novel variable-stiffness gripper with a ...
Forward Kinematics Solution Distribution and Analytic Singularity Free Workspace of Linear Actuated Symmetrical Spherical Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a new kinematics model for linearactuated symmetrical spherical parallel manipulators (LASSPMs) which are commonly used considering their symmetrical kinematics and dynamics properties. The model has ...
Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism With Reconfigurable 3T and 3R Motion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a metamorphic parallel mechanism (MPM) which can switch its motion between pure translation (3T) and pure rotation (3R). This feature stems from a reconfigurable Hooke (rT) joint of which one of the ...
Unified Kinematics and Singularity Analysis of a Metamorphic Parallel Mechanism With Bifurcated Motion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces a new metamorphic parallel mechanism consisting of four reconfigurable rTPS limbs. Based on the reconfigurability of the reconfigurable Hooke (rT) joint, the rTPS limb has two phases while in one phase ...
Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Design and control of lower extremity robotic prostheses are iterative tasks that would greatly benefit from testing platforms that would autonomously replicate realistic gait conditions. This paper presents the design of ...
Design, Modeling, Evaluation, and Control of a Compact Discrete Variable Stiffness Actuator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. This article introduces a novel compact discrete variable stiffness actuator, distinguished by its design topology enabling compactness and independent stiffness adjustment regardless of position, without relying ...
Singularity Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces a new concept of applying a parallel mechanism in automated fiber placement (AFP) for aerospace part manufacturing. By investigating the system requirements, a 4DOF parallel mechanism consisting of ...
Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a method of stiffness design for a spatial Three Degrees of Freedom (3DOF) serial compliant manipulator with the objective of protecting the compliant joint actuators when the manipulator comes up against ...
A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Mechanical components in a robotic system were used to provide body structure and mechanism to achieve physical motions following the commands from electronic controller. This kind of robotic system utilizes complex hardware ...