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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0687-1

Abstract: A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to designa masticatory robot that can achieve increasingly human-like chewing motion.The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cableThis work also exploits the proposed CDLA and designs a masticatory robot called Southeast Universityperformance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable

Keywords： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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State-of-the-art on theories and applications of cable-driven parallel robots

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0693-3

Abstract: Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematicchains and parallel mechanism theory.It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improvesKinematic modeling, workspace analysis, and cable-force solution are illustrated.In addition, engineering problems such as cable materials, reliability design, and a unified control

Keywords： cable-driven parallel robot     kinematics     optimization     dynamics     control    

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Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 4,   Pages 344-351 doi: 10.1007/s11465-015-0364-8

Abstract:

In recent years, various cable-driven parallel robots have been investigated for their advantages,Thus, the application of such an optimal controller in cable-driven parallel robots can result in moreThis paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots.To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-drivenparallel robot (Feriba-3) is developed.

Keywords： accuracy     cable-driven parallel robot     linear quadratic optimal control    

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Design and modeling of continuum robot based on virtual-center of motion mechanism

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0739-6

Abstract: Continuum robot has attracted extensive attention since its emergence.Thus, it is well suited for use as a continuum robot joint.Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot.Furthermore, the motion performance of the designed continuum robot is evaluated.compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot

Keywords： VCM mechanism     continuum robot     flexural joint     pseudo-rigid body model     cable-driven    

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Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 45-60 doi: 10.1007/s11465-011-0205-3

Abstract: All three arm modules are also driven by cables in order to mimic the driving scheme and functionalityA research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrateWith a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has

Keywords： anthropomimetic design     robotic arm     cable-driven mechanism     kinematic analysis     design optimization    

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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 1, doi: 10.1007/s11465-022-0722-2

Abstract: This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMsNext, Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven

Keywords： modular robotic arm     anti-parallelogram mechanism     Bowden cable     humanoid arm     lightweight joint design    

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Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4,   Pages 350-359 doi: 10.1007/s11465-013-0271-9

Abstract:

Cable-suspended manipulators are used in large scale applications with, heavy in weight and long inIt seems impractical to maintain cable assumptions of smaller robots for large scale manipulators.In this paper, an analytic solution is provided to solve cable vibration.

Keywords： parallel robot     flexible cable     suspended robot     dynamic    

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0756-0

Abstract: The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexibleFirst, a novel cable-hole friction model with the variable friction coefficient and adaptive frictionSecond, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shiftFinally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostaticThe compact continuum robot system could be considered a novel solution to perform in-situ maintenance

Keywords： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ maintenance    

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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0678-2

Abstract: In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeletonThe robot can achieve flexible motion in 3D space.Experiments show that the robot can be controlled to move to the desired position based on the proposedThe prototype and modeling method can provide a new perspective for soft robot design, modeling, and

Keywords： pneumatic artificial muscles     soft robot     modeling approach     principle of virtual work     external load    

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An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement Research

Tian-miao Wang, Xuan Pei, Tao-gang Hou, Yu-bo Fan, Xuan Yang, Hugh M. Herr, Xing-bang Yang,hherr@media.mit.edu,xingbang@mit.edu

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 5,   Pages 723-739 doi: 10.1631/FITEE.1900455

Abstract: A cable force transmission system based on gear-pulley assemblies was designed to transfer the powerA cable self-tension device on the power output unit was designed to tension the cable during walking

Keywords： Ankle exoskeleton     Plantarflexion-dorsiflexion bidirectional assistance     Biological gait torque     Cable-driven    

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Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 295-307 doi: 10.1007/s11465-014-0317-7

Abstract:

This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallelThe robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk andturn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulatorWhen all four feet of the robot contact on the ground, by assuming there is no slipping at the feet,The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve

Keywords： quadruped robot     actuated joints selection     kinematics analysis     motion planning     parallel manipulator    

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Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 211-224 doi: 10.1007/s11465-018-0471-4

Abstract: analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallelrobot for pick-and-place operations.The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform.To investigate the characteristics of the robot’s DOFs, a line graph method based on GrassmannOn the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed

Keywords： spatial parallel robot     pick-and-place operations     mobility analysis     kinematic modeling     workspace identification    

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Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 70-79 doi: 10.1007/s11465-013-0365-4

Abstract: The parallel robot can also handle both a laparoscope as well an active instrument for different surgicalThe kinematic modelling of a new parallel architecture, the inverse and direct geometric model and theThe paper will demonstrate that with this parallel structure, one can obtain the necessary workspaceThe robot workspace was generated using the inverse geometric model.Some kinematic simulation results and the experimental model of the robot are presented in the paper.

Keywords： parallel robot     minimally invasive surgery     kinematics     simulation    

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Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility

Fugui XIE,Xin-Jun LIU

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 135-143 doi: 10.1007/s11465-016-0389-7

Abstract:

This study introduces a high-speed parallel robot with Schönflies motion.This robot exhibits a promising prospect in realizing high-speed pick-and-place manipulation for packagingThe robot has four identical limbs and a single platform.Its compact structure and single-platform concept provides this robot with good dynamic response potentialThereafter, the singular loci of the proposed robot with specific geometric parameters are derived.

Keywords： parallel robot     mobility     inverse kinematics     singularity     transmission performance    

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Evaluation of the power consumption of a high-speed parallel robot

Gang HAN, Fugui XIE, Xin-Jun LIU

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 167-178 doi: 10.1007/s11465-017-0456-8

Abstract:

An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principleWith this dynamic model, a new evaluation method is proposed to measure the power consumption of the robotThese indices can evaluate the power input and output transmissibility of the robot in a workspace.The distributions of the power input and output transmissibility of the high-speed parallel robot areFurtherly, a low-power-consumption workspace is selected for the robot.

Keywords： high-speed parallel robot     dynamic model     power consumption     evaluation method     power vector    

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Title Author Date Type Operation

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Journal Article

State-of-the-art on theories and applications of cable-driven parallel robots

Journal Article

Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

Journal Article

Design and modeling of continuum robot based on virtual-center of motion mechanism

Journal Article

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Journal Article

A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

Journal Article

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Journal Article

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Journal Article

Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Journal Article

An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement

Tian-miao Wang, Xuan Pei, Tao-gang Hou, Yu-bo Fan, Xuan Yang, Hugh M. Herr, Xing-bang Yang,hherr@media.mit.edu,xingbang@mit.edu

Journal Article

Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Journal Article

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

Journal Article

Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

Journal Article

Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility

Fugui XIE,Xin-Jun LIU

Journal Article

Evaluation of the power consumption of a high-speed parallel robot

Gang HAN, Fugui XIE, Xin-Jun LIU

Journal Article