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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    

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.A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy methodExperiments 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    

Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism: modeling

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0697-z

Abstract: A piezoelectric inertial pipeline robot using a “stick-slip” mechanism was proposed to address this requirementIn this study, the driving principle of the proposed robot was analyzed, and the strategy of the designAn experimental system was established to examine the output characteristics of the proposed robot.Experimental results show that the proposed pipeline robot with inertial stick-slip mechanism has a greatThe speed of the pipeline robot can reach up to 3.5 mm/s (3 mm/s) in the forward (backward) direction

Keywords: pipeline robot     piezoelectric     inertial drive     stick-slip     large load capacity     dynamics model     small    

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 2,   Pages 166-172 doi: 10.1631/FITEE.1400183

Abstract: subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robotThe robot successfully followed the desired circular trajectory in the presence of wheel slippage and

Keywords: Robot modeling     Robot navigation     Slip and skid control     Wheeled mobile robots    

Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterous

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0691-5

Abstract: This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments, such as unstructured or man-made operational errors through comprehensive consideration of cost, accuracy, manufacturing, and application. Based on the concept of mechanical passive compliance, which is widely implemented in robots for interactions, a finger is dedicated to improving mechanical robustness. The finger mechanism not only achieves passive compliance against physical impacts, but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory actuators. It achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust stiffness. The mechanical design of the finger and its stiffness adjusting methods are elaborated. The stiffness characteristics of the finger joint and the actuation unit are analyzed. Experimental results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the model. Fingers have been experimentally proven to be robust against physical impacts. Moreover, the experimental part verifies that fingers have good power, grasping, and manipulation performance.

Keywords: multifingered hand     mechanism design     robot safety     variable stiffness actuator    

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: and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robotThe 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    

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0684-4

Abstract: As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliaryOne of the main elements of such a human–robot coupling system is a control system to ensure human–robotThis review aims to summarise the development of human–robot coordination control and the associatedrehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robotThen, human–robot coordination is discussed in terms of three aspects: modelling, perception and control

Keywords: human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model    

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: linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robotThis work also exploits the proposed CDLA and designs a masticatory robot called Southeast Universitymasticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position changeChewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can

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

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedThe dynamic alternating tripod trotting gait is developed to control the robot, and the parameters ofFinally, the method is integrated on a hexapod robot and tested by real experiments.Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam.

Keywords: terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 195-203 doi: 10.1007/s11465-016-0390-1

Abstract: We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platformA collision avoidance algorithm is introduced for the robot taping manipulation.

Keywords: robot taping     path planning     robot manipulation     3D scanning    

Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Yuwang LIU, Dongqi WANG, Shangkui YANG, Jinguo LIU, Guangbo HAO

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 32-45 doi: 10.1007/s11465-020-0604-4

Abstract: passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot

Keywords: variable stiffness mechanism     stiffness self-regulation     bionic robot     modeling    

A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 317-330 doi: 10.1007/s11465-014-0304-z

Abstract:

Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robotnew meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robotobjective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robotDepending upon the value of objective function of each weed in colony, the robot avoids obstacles andThe optimal trajectory is generated with this navigational algorithm when robot reaches its destination

Keywords: mobile robot     obstacle avoidance     Invasive Weed Optimization     navigation    

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 197-200 doi: 10.1007/s11465-007-0033-7

Abstract: Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of theThe robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distanceThe visual navigation and control system allow the robot to navigate and track the target and to accomplish

Keywords: measuring     distance     autonomous locomotion     advantage     navigation    

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 in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.

Keywords: parallel robot     flexible cable     suspended robot     dynamic    

Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 8-8 doi: 10.1007/s11465-021-0664-0

Abstract: With the widespread application of legged robot in various fields, the demand for a robot with high locomotionAdding an extra arm is a useful but general method for a legged robot to obtain manipulation ability.Hence, this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterousThis robot provides a new approach to building a multifunctional locomotion platform.

Keywords: leg–arm integration     hexapod robot     fixed coordinated manipulation     mobile manipulation    

Title Author Date Type Operation

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

Journal Article

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

Journal Article

Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism: modeling

Journal Article

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Journal Article

Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterous

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

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Journal Article

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

Journal Article

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

Journal Article

Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Yuwang LIU, Dongqi WANG, Shangkui YANG, Jinguo LIU, Guangbo HAO

Journal Article

A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

Journal Article

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Journal Article

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Journal Article

Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

Journal Article