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RISDesign of Decoupled and Dynamically Isotropic Parallel Manipulators Considering Five Degrees-of-Freedom
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A six degrees-of-freedom (DOF) two-radii Gough–Stewart Platform (GSP) can be designed to be dynamically isotropic and has been proposed for micro-vibration isolation. In many applications, the torsional mode can be ignored, ...
Nonlinear Dynamics of a Rotating Flexible Link
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the study of the nonlinear dynamics of a rotating flexible link modeled as a one dimensional beam, undergoing large deformation and with geometric nonlinearities. The partial differential equation of ...
Asymptotic Stability and Chaotic Motions in Trajectory Following Feedback Controlled Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A feedback controlled robot manipulator with positive controller gains is known to be asymptotically stable at a set point and for trajectory following in the sense of Lyapunov. However, when the endeffector of a robot or ...
Chaotic Motion in a Flexible Rotating Beam and Synchronization
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A rotating flexible beam undergoing large deformation is known to exhibit chaotic motion for certain parameter values. This work deals with an approach for control of chaos known as chaos synchronization. A nonlinear ...
Workspace of Multifingered Hands Using Monte Carlo Method
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Multifingered hands have the capability of dexterous manipulation of grasped objects and thus significantly increase the capabilities of a robot equipped with multifingered hands. Inspired by a multijointed human finger ...
Robustness Analysis of a Simple and Augmented Proportional Plus Derivative Controller in Trajectory Following Robots Using the Floquet Theory
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the issue of robustness in control of robots using the proportional plus derivative (PD) controller and the augmented PD controller. In the literature, a variety of PD and model-based controllers for ...
Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Robotic surgical tools used in minimally invasive surgeries (MIS) require miniaturized and reliable actuators for precise positioning and control of the endeffector. Miniature pneumatic artificial muscles (MPAMs) are a ...
Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Hyper-redundant snakelike serial robots are of great interest due to their application in search and rescue during disaster relief in highly cluttered environments and recently in the field of medical robotics. A key feature ...
A Novel Prevailing Torque Threaded Fastener and Its Analysis
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We present a novel concept of a threaded fastener that is resistant to loosening under vibration. The antiloosening feature does not use any additional element and is based on modifying the geometry of the thread in the ...