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Analysis and optimal design of an underactuated finger mechanism for LARM hand

Shuangji YAO, Marco CECCARELLI, Giuseppe CARBONE, Qiang ZHAN, Zhen LU

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 3,   Pages 332-343 doi: 10.1007/s11465-011-0229-8

Abstract: aims to present general design considerations and optimality criteria for underactuated mechanisms in fingerDesign issues related to grasping task of robotic fingers are discussed.Performance characteristics are outlined as referring to several aspects of finger mechanisms.Optimality criteria of the finger performances are formulated after careful analysis.A numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics

Keywords： robotic finger     underactuated mechanisms     design considerations    

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Analysis of the dynamic hysteresis characteristic of finger seal

LEI Yanni, CHEN Guoding

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1,   Pages 32-36 doi: 10.1007/s11465-007-0005-y

Abstract: The research about hysteresis characteristic of finger seal (FS), which was carried out based on the

Keywords： FS     necessary     hysteresis characteristic     optimization     spring    

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Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2,   Pages 219-228 doi: 10.1007/s11465-011-0218-y

Abstract:

The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and jointsmodes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic

Keywords： robotic arms     elastic link     elastic joint     nonlinear dynamics     optimal control    

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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:

In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed.the three joint modules, in which the design objective is to maximize the matched workspace of the roboticA 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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Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2,   Pages 182-196 doi: 10.1007/s11465-011-0221-3

Abstract: p>Stiffness can be considered of primary importance in order to guarantee the successful use of any roboticfor carrying out both numerical and experimental estimations of stiffness performance for multibody robotic

Keywords： robotics     stiffness performance     numerical and experimental estimations    

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

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

Abstract: development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous fingerThe 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 differentfinger stiffness presets are provided to verify the validity of the model.

Keywords： multifingered hand     mechanism design     robot safety     variable stiffness actuator    

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A novel task-oriented framework for dual-arm robotic assembly task

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 528-545 doi: 10.1007/s11465-021-0638-2

Abstract: Experiments are set up with a dual-arm robotic system (ABB YuMi and an RGB-D camera) to validate the

Keywords： dual-arm assembly     AI reasoning     intelligent system     task-oriented motion planning     visual perception    

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Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives

Yuyang Chen, Shu’an Zhang, Zhonghao Wu, Bo Yang, Qingquan Luo, Kai Xu

Frontiers of Medicine 2020, Volume 14, Issue 4,   Pages 382-403 doi: 10.1007/s11684-020-0781-x

Abstract: dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical roboticlandscape of the system configurations, actuation schemes, and control approaches of the existing surgical robotic

Keywords： surgical robots     keyhole surgery     endoscopic surgery    

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 353-362 doi: 10.1007/s11465-020-0620-4

Abstract: The performance of controlling underactuated robotic systems can be further improved by the adoptionIn addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness

Keywords： sliding-mode control     robot control     discrete-time uncertain systems     fuzzy logic    

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New spinal robotic technologies

Bowen Jiang, Tej D. Azad, Ethan Cottrill, Corinna C. Zygourakis, Alex M. Zhu, Neil Crawford, Nicholas Theodore

Frontiers of Medicine 2019, Volume 13, Issue 6,   Pages 723-729 doi: 10.1007/s11684-019-0716-6

Abstract: Robotic systems in surgery have developed rapidly.surgical corridors and can require repetitive tasks over lengthy periods of time — issues for which roboticTo date, the United States Food and Drug Administration (FDA) has approved 7 robotic systems across 4surgery is the design and implementation of rigorous comparative studies to interrogate the utility of roboticHere we discuss current applications of robotics in spine surgery, review robotic systems FDA-approved

Keywords： robotics     spine surgery     Mazor     ExcelsiusGPS     ROSA     pedicle screw    

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Robotic distal pancreatectomy versus conventional laparoscopic distal pancreatectomy: a comparative study

Eric C. H. Lai,Chung Ngai Tang

Frontiers of Medicine 2015, Volume 9, Issue 3,   Pages 356-360 doi: 10.1007/s11684-015-0404-0

Abstract:

Robotic system has been increasingly used in pancreatectomy.Both robotic and conventional laparoscopic groups presented no significant difference in spleen-preservationSimilar outcomes were observed in robotic distal pancreatectomy and conventional laparoscopic approachHowever, robotic approach tended to have the advantages of less blood loss and shorter hospital stay.Further studies are necessary to determine the clinical position of robotic distal pancreatectomy.

Keywords： distal pancreatectomy     pancreatic neoplasm     robotic surgery    

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Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly Article

Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding

Engineering 2023, Volume 30, Issue 11,   Pages 83-92 doi: 10.1016/j.eng.2022.08.022

Abstract: An HRC framework for robotic assembly based on impedance control is proposed in this paper.

Keywords： Human–robot collaboration     Impedance control     Robotic assembly    

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Fault-Tolerant Control of a CPG-Governed Robotic Fish Article

Yueqi Yang, Jian Wang, Zhengxing Wu, Junzhi Yu

Engineering 2018, Volume 4, Issue 6,   Pages 861-868 doi: 10.1016/j.eng.2018.09.011

Abstract:

Fault tolerance is essential for the maneuverability of self-propelled biomimetic robotic fish inThis paper explores the fault-tolerance control problem of a free-swimming robotic fish with multipleSimulations are performed for control system analysis and performance validation of the faulty roboticdemonstrate that the proposed fault-tolerant control method is able to effectively regulate the faulty roboticmotion in the presence of damage and thereby improving both the stability and the lifetime of the real robotic

Keywords： Fault-tolerant control     Robotic fish     Motion control     Feedback controller     Feedforward compensator    

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A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery Article

Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu

Engineering 2015, Volume 1, Issue 1,   Pages 73-78 doi: 10.15302/J-ENG-2015011

Abstract:

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.

Keywords： surgical robot     flexible manipulator     tendon-driven     minimally invasive robotic surgery    

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Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 184-194 doi: 10.1007/s11465-016-0385-y

Abstract:

This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conductingThe finger is actuated by a flexion tendon and an extension tendon.applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the fingerDiagrams are established to identify the optimum values for the tendon guides position of a finger withThe findings of this study can serve as guide for future finger design.

Keywords： tendon-driven fingers     mechanical finger design     under-actuated mechanical systems    

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Title Author Date Type Operation

Analysis and optimal design of an underactuated finger mechanism for LARM hand

Shuangji YAO, Marco CECCARELLI, Giuseppe CARBONE, Qiang ZHAN, Zhen LU

Journal Article

Analysis of the dynamic hysteresis characteristic of finger seal

LEI Yanni, CHEN Guoding

Journal Article

Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

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

Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

Journal Article

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

Journal Article

A novel task-oriented framework for dual-arm robotic assembly task

Journal Article

Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives

Yuyang Chen, Shu’an Zhang, Zhonghao Wu, Bo Yang, Qingquan Luo, Kai Xu

Journal Article

Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Journal Article

New spinal robotic technologies

Bowen Jiang, Tej D. Azad, Ethan Cottrill, Corinna C. Zygourakis, Alex M. Zhu, Neil Crawford, Nicholas Theodore

Journal Article

Robotic distal pancreatectomy versus conventional laparoscopic distal pancreatectomy: a comparative study

Eric C. H. Lai,Chung Ngai Tang

Journal Article

Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly

Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding

Journal Article

Fault-Tolerant Control of a CPG-Governed Robotic Fish

Yueqi Yang, Jian Wang, Zhengxing Wu, Junzhi Yu

Journal Article

A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery

Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu

Journal Article

Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

Journal Article