Journal of Mechanisms and Robotics-Transactions of the Asme最新文献_第4页

Design of A Novel Flexible Spherical Hinge and Its Application in Continuum Robot 一种新型柔性球面铰链的设计及其在连续体机器人中的应用

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-09-07 DOI: 10.1115/1.4063370

Guoxin Li, Jingjun Yu, Jie Pan, X. Pei

{"title":"Design of A Novel Flexible Spherical Hinge and Its Application in Continuum Robot","authors":"Guoxin Li, Jingjun Yu, Jie Pan, X. Pei","doi":"10.1115/1.4063370","DOIUrl":"https://doi.org/10.1115/1.4063370","url":null,"abstract":"\u0000 Compliant mechanisms, which can be integrally machined and without assembly, are well suited as joints for continuum robots (CRs), but how to incorporate the advantages of the compliant mechanism into the arm design is a key issue in this work. In this paper, a novel type of flexible spherical-hinged (FSH) joint composed of tetrahedron elements with a fixed virtual remote center of motion (RCM) at the bottom is proposed, and then extended to the CR and end-effector. In the arm design, the error compensation principle is used to offset the parasitic motion of the CR under external load (pressure and torque) and improve the bending and torsional isotropy of the arm through different series combinations, and then the stiffness model of the FSH joint and the statics model of the CR are developed using the 3D chain pseudo-rigid body model (3D-CPRBM) and tested. The results show that the 3D-CPRBM can effectively predict the deformation of the FSH joint and the CR. Moreover, the maximum standard deviation of the bending angle of the FSH joint in each direction is only 0.26 degree, the repeatable positioning accuracy of the CR can reach 0.5 degree, and the end-effector has good gripping ability and self-adaptive capability.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46198870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Control of an Aerial Manipulator with Invariant Center of Gravity for Physical Interaction 具有不变重心的物理交互航空机械臂的设计与控制

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-09-07 DOI: 10.1115/1.4063368

Yongfeng Rong, Wusheng Chou

{"title":"Design and Control of an Aerial Manipulator with Invariant Center of Gravity for Physical Interaction","authors":"Yongfeng Rong, Wusheng Chou","doi":"10.1115/1.4063368","DOIUrl":"https://doi.org/10.1115/1.4063368","url":null,"abstract":"\u0000 The deployment of manipulators enhances the versatility and flexibility of unmanned aerial vehicles (UAVs) in aerial physical interaction tasks but also challenges their designs and controls due to variations in the center of gravity (CoG), moment of inertia and reaction wrenches. This work presents a novel design of a two-degree-of-freedom dual-tool manipulator with invariant-center-of-gravity (ICoG) property. The ICoG conditions are strictly deduced, and a practical optimization-based parameter tuning method is proposed. A novel adaptive-extended-state-observer-based (AESO-based) impedance control method is developed with actuator dynamics taken into account. The AESO can estimate and compensate for both the lumped disturbance, including the influences of moment-of-inertia variation and counter torque, and the unmeasurable states for the controller. In addition, a switching adaptive law is proposed to attenuate the peaking phenomenon under high observer gains. The impedance controller is designed using an auxiliary impedance tracking error to overcome the difficulty of the increased system order. The Lyapunov approach is used to evaluate the stability of the entire system. The proposed approach is implemented on a fully-actuated hexarotor with a prototype of the ICoG manipulator. Comparative experiments are conducted to validate the effectiveness and advantages of the proposed design and control methods.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44433873","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Kinematic modeling and optimization of a clustered tensegrity mobile robot 集群式张拉整体移动机器人的运动学建模与优化

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-08-30 DOI: 10.1115/1.4063290

Qi Yang, Xinyu Liu, Ze Yu, Binbin Lian, Tao Sun

{"title":"Kinematic modeling and optimization of a clustered tensegrity mobile robot","authors":"Qi Yang, Xinyu Liu, Ze Yu, Binbin Lian, Tao Sun","doi":"10.1115/1.4063290","DOIUrl":"https://doi.org/10.1115/1.4063290","url":null,"abstract":"\u0000 Clustered tensegrity mechanisms have elicited extensive attention in recent research due to their easy control system and high stiffness-to-mass ratio. However, modeling and analyzing these mechanisms are still challenging due to the clustering of cables and redundant structural parameters. This paper proposes an energy-based kinematic modeling method for a modular clustered tensegrity mobile robot. The design of the clustered tensegrity robot is inspired by the biomechanics of worms, allowing it to achieve two locomotion modes resembling earthworm-like and inchworm-like movements using two motors. Moreover, the clustered and modular structure enables the robot to increase the number of modules as needed without increasing the number of actuators. This feature enhances the robot's terrain adaptability without adding complexity to the control system. The paper establishes kinematic models using the energy method and clarifies the motion law of nodes on the sliding cables of the robot, considering multiple structural parameters for both locomotion modes. Based on these models, the paper reveals the mapping relationships among various structural parameters (i.e., cable-hole gap, cable-hole friction, stiffness and original length of elastic cables, and ground-robot friction) and locomotion performance (i.e., morphology, displacement, and velocity) of the robot. Furthermore, structural parameter optimization is performed to enhance the kinematic performance of the robot in both locomotion modes simultaneously. A prototype with two modules is developed, and experiments are conducted to assess the robot's locomotion performance. These experiments demonstrate the effectiveness and rationality of the proposed method.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41620545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Analysis and Validation of a Flexible Limb/Cable Hybrid-Driven Parallel Continuum Manipulator 柔性臂/缆索混合驱动并联连续体机械手的分析与验证

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-08-29 DOI: 10.1115/1.4063289

Yezheng Kang, Zhenkun Liang, Tianyi Yan, Xuyang Duan, Hao Wang, J. Seidelmann, Genliang Chen

{"title":"Analysis and Validation of a Flexible Limb/Cable Hybrid-Driven Parallel Continuum Manipulator","authors":"Yezheng Kang, Zhenkun Liang, Tianyi Yan, Xuyang Duan, Hao Wang, J. Seidelmann, Genliang Chen","doi":"10.1115/1.4063289","DOIUrl":"https://doi.org/10.1115/1.4063289","url":null,"abstract":"\u0000 Cable-driven parallel manipulators and parallel continuum manipulators have attracted increasing attention in pick-and-place manipulation, owing to their low inertia and high safety. In cable-driven parallel robots, cables are utilized to control a moving platform, whereas parallel continuum manipulators employ flexible limbs.By combing these two types of mechanisms, the authors propose a novel flexible limb/cable hybrid-driven parallel continuum manipulator (HDPCM).The flexible limbs, equipped with their ability to withstand pushing forces applied on the moving platform, are a critical component of the HDPCM. Meanwhile, the cables, with their proficiency to modulate the shape of the flexible limbs and endure some of the pulling force, reduce the possibility of large divergence in flexible limbs. This results in an improved reachable workspace and load capacity for the manipulator. To predict the configuration of the proposed manipulator, an efficient kinetostaics analysis is given, utilizing a discretization-based approach. Among the infinitely many solutions to the inverse problem, the configuration with the minimal potential energy is selected as the optimal solution. Finally, a prototype is fabricated, and validation experiments are conducted, which demonstrate that the prototype exhibits acceptable positioning accuracy and passive compliance. Furthermore, the proposed manipulator is validated to possess relatively superior performance in workspace and load capacity.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49613805","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Six-bar Linkages with Compliant Mechanisms for Programmable Mechanical Structures 用于可编程机械结构的具有柔顺机构的六杆机构

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-08-10 DOI: 10.1115/1.4063168

M. Pieber, J. Gerstmayr

{"title":"Six-bar Linkages with Compliant Mechanisms for Programmable Mechanical Structures","authors":"M. Pieber, J. Gerstmayr","doi":"10.1115/1.4063168","DOIUrl":"https://doi.org/10.1115/1.4063168","url":null,"abstract":"\u0000 Programmable mechanical structures are formed by autonomous and adaptive cells and can reproduce meshes known from the finite element method. Furthermore, they can change their structure not only through morphing, but also by self-reconfiguration of the cells. A crucial component of the cells, which can preserve the underlying geometry of a triangular mesh, are six-bar linkages. The main part of the present contribution concerns the six-bar linkages as a fully 3D-printable compliant mechanism where each revolute joint of the six-bar linkage is replaced with a notch flexure hinge with circular contour. There are two key drawbacks associated with the use of notch flexure hinges, namely, compliance in the flexure hinges and the fact that the center of rotation is not maintained. For self-reconfiguration of the cells, an efficient model is needed to predict the positioning errors. Therefore, the flexure hinge is represented by three distinct models, namely a finite element model, a beam model, and a simplified linearized model based on translational and rotational spring elements. These models are compared and evaluated in succession first to identify the parameters of the simplified model and later on, the simplified model is used to show the deviations of a medium-scaled programmable structure with respect to the idealized behavior. The current work brings us closer to both the development of programmable mechanical structures and the prediction of positioning errors during self-reconfiguration.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-08-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45074088","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Analysis and Optimization of a 6-DoF 3-RRPS Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery 机器人辅助长骨骨折手术6-DoF 3-RRPS并联机构分析与优化

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-08-10 DOI: 10.1115/1.4063167

M. Clancy, Fayez Alruwaili, Marzieh S. Saeedi-Hosseiny, Sean McMillan, Ioan Iulian Iordachita, Mohammad H. Abedin-Nasab

{"title":"Analysis and Optimization of a 6-DoF 3-RRPS Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery","authors":"M. Clancy, Fayez Alruwaili, Marzieh S. Saeedi-Hosseiny, Sean McMillan, Ioan Iulian Iordachita, Mohammad H. Abedin-Nasab","doi":"10.1115/1.4063167","DOIUrl":"https://doi.org/10.1115/1.4063167","url":null,"abstract":"\u0000 Robot-assisted femur repair has been of increased interest in recent literature due to the success of robot-assisted surgeries and current reoperation rates for femur fracture surgeries. The current limitation of robot-assisted femur fracture surgery is the lack of large force generation and sufficient workspace size in traditional mechanisms. To address these challenges, our group has created a 3-RRPS parallel mechanism, Robossis, which maintains the strength of parallel mechanisms while improving the translational and rotational workspace volume. In this paper, an optimal design methodology of parallel mechanisms for application to robot-assisted femur fracture surgery using a single-objective genetic algorithm is proposed. The genetic algorithm will use a single objective function to evaluate the various configurations based on the clinical and mechanical design criteria for femur fracture surgery as well as the global conditioning index. The objective function is composed of the desired translational and rotational workspaces based on the design criteria, the dynamic load-carrying capacity, and the homogenous-Jacobian global conditioning index. Lastly, experimental results of Robossis were obtained to validate the kinematic solution and the mechanism itself; Robossis had an average error of 0.31mm during experimental force testing.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-08-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47859964","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Motion Performance Study of 2UPR-1RPS/2R Hybrid Robot based on Kinematics, Dynamics and Stiffness Modeling 基于运动学、动力学和刚度建模的2UPR-1RPS/2R混合机器人运动性能研究

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-08-10 DOI: 10.1115/1.4063169

Jing Li, Ninghe Lu, Nanyan Shen, Zehui Ma, Ziqi Zhao

{"title":"Motion Performance Study of 2UPR-1RPS/2R Hybrid Robot based on Kinematics, Dynamics and Stiffness Modeling","authors":"Jing Li, Ninghe Lu, Nanyan Shen, Zehui Ma, Ziqi Zhao","doi":"10.1115/1.4063169","DOIUrl":"https://doi.org/10.1115/1.4063169","url":null,"abstract":"\u0000 The unique structural characteristics of hybrid robots, such as few-DOF and redundant constraints, lead to a series of challenges in the establishment of theoretical models. However, these theoretical models are indispensable parts of motion control. Therefore, this paper focus on establishing the kinematics, dynamics and stiffness models for an Exechon-like hybrid robot, which are then used for error compensation and velocity planning to improve the robot motion performance. Firstly, the kinematic model is derived through intermediate parameters and the kinematics equivalent chains. By analyzing the parasitic motion due to few-DOF, the redundant equations in the model are eliminated to obtain the solution of inverse kinematics. Secondly, based on the beam element, the optimal equivalent configuration of the moving platform which connects the parallel part and serial part is determined and then an entire equivalent structure of the robot is formed. It helps establish the stiffness model by using the Matrix Structure Analysis method. Next, the dynamic model is established by combining the Newton Euler method with co-deformation theory to solve the underdetermined dynamic equations caused by redundant constraints. Finally, the compensation method is designed based on the stiffness model and kinematic model to improve the end positioning accuracy of the robot; the velocity planning algorithm is designed based on the dynamic model and kinematic model to enhance the smoothness of the robot motion. The methods proposed in this paper are also of referential significance to other Exechon-like hybrid robots.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-08-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42451560","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Mechanical characterisation of supernumerary robotic tails for human balance augmentation 用于人体平衡增强的多余机械尾巴的力学特性

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-08-02 DOI: 10.1115/1.4063094

Sajeeva Abeywardena, Eisa Anwar, S. Miller, I. Farkhatdinov

引用次数: 1

Development of a Low-cost Soft Robot Fish with Biomimetic Swimming Performance 具有仿生游泳性能的低成本软体机器鱼的研制

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-07-25 DOI: 10.1115/1.4063037

Ting Zou, Xinyu Jian, M. Al-Tamimi, Xing Wu, Jing Wu

{"title":"Development of a Low-cost Soft Robot Fish with Biomimetic Swimming Performance","authors":"Ting Zou, Xinyu Jian, M. Al-Tamimi, Xing Wu, Jing Wu","doi":"10.1115/1.4063037","DOIUrl":"https://doi.org/10.1115/1.4063037","url":null,"abstract":"\u0000 This paper investigates the methodology and techniques for a soft biomimetic robot fish that has a straightforward design, relatively simple fabrication, and low cost. In addition to the investigations of fabrication techniques, we also explore the numerical analysis of the biological fish swimming performance, with its inspiration for robot fish design, which is less studied in the literature. In this research, therefore, various swimming locomotion patterns within the BCF (body and/or caudal fin) family are analyzed for kinematics & hydrodynamics using analytical methods and CFD (computational fluid dynamics) to inspire the robot fish design for improved swimming performance. Via straightforward design and fabrication, the swimming performance of the numerical robot fish is verified by means of simulation using 3D CFD and the prototype performance is validated using in-water experimental tests. This study showcases a new easy-to-design and easy-to-fabricate robust biomimetic robot fish with comparable swimming performance, which has good potential for purposes like education, research, and entertainment.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43280625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics 冗余机械手运动学的循环可微流形表示

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-07-25 DOI: 10.1115/1.4063038

E. Haug

引用次数: 2