Journal of Mechanisms and Robotics-Transactions of the Asme最新文献_第6页

Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot 内腔加工混合动力机器人2RRU-RRS并联运动机构设计

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-26 DOI: 10.1115/1.4062649

Lingmin Xu, Xinxue Chai, Ye Ding

引用次数: 0

Conceptual Design of a Novel Particle-Based Soft Grasping Gripper 一种新型颗粒软抓握器的概念设计

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-26 DOI: 10.1115/1.4062647

Qianyi Chen, Dingena L. Schott, Jovana Jovanova

{"title":"Conceptual Design of a Novel Particle-Based Soft Grasping Gripper","authors":"Qianyi Chen, Dingena L. Schott, Jovana Jovanova","doi":"10.1115/1.4062647","DOIUrl":"https://doi.org/10.1115/1.4062647","url":null,"abstract":"Abstract Soft grippers show adaptability and flexibility in grasping irregularly shaped and fragile objects. However, the low loading capacity and less deformation limit the soft gripper for developing large-scale applications. To overcome these limitations, we propose a new concept of a soft actuator with engineered smart particles. The proposed soft actuator is a dual-chamber programmable structure made from an elastic membrane filled with different particles, which can be driven by expanding particle volume or flexible membrane shrinking. Compared to traditional pneumatic or particle-jamming actuators, we use a combination of granular materials and smart materials, which delivers better active performances of large-scale deformation and variable stiffness. The coupled numerical model of the discrete element method and the finite element method is used to demonstrate the concept. The results indicated that the proposed soft gripper achieves the functionality of large deformation by a shrinking membrane or expanding particles. By controlling different design parameters, the actuator bends up to 138 deg, and the stiffness is up to a maximum of nine times of the pneumatic actuator. Additionally, the bending angle and deflections of the gripper actuator first increase and then drop down with increasing particle diameter ratio, actuator length, and elastic modulus of membrane material. Hence, the choice of different parameters must be in a specific range to achieve the required deformation. In conclusion, the soft-grasping gripper actuator can realize large bending deformation and shows potential for developing soft grippers in multi-scale physical scenarios.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"293 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135555950","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

Data-Driven Dynamics Modeling and Control Strategy for a Planar n-DOF Cable-Driven Parallel Robot Driven by n+1 Cables Allowing Collisions n+1缆索碰撞驱动平面n自由度缆索驱动并联机器人的数据驱动动力学建模与控制策略

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-21 DOI: 10.1115/1.4062792

Genyuan Xu, Haoda Zhu, Hao Xiong, Y. Lou

引用次数: 1

Design and Analysis of a 6-DOF Microsurgical Instruments Based on Rigid-flexible Coupling Multi-body System 基于刚柔耦合多体系统的六自由度显微外科器械设计与分析

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-21 DOI: 10.1115/1.4062791

Xuewen Wang, Yang Yu, Yang Jinhe, Zhengxiao Xu, Haipeng Liu

{"title":"Design and Analysis of a 6-DOF Microsurgical Instruments Based on Rigid-flexible Coupling Multi-body System","authors":"Xuewen Wang, Yang Yu, Yang Jinhe, Zhengxiao Xu, Haipeng Liu","doi":"10.1115/1.4062791","DOIUrl":"https://doi.org/10.1115/1.4062791","url":null,"abstract":"\u0000 In order to improve the operational accuracy of microsurgical instruments and increase the success rate of surgery, this paper carries out the design and analysis of six-degree-of-freedom (6-DOF) microsurgical instruments based on rigid-flexible coupling multi-body system. Firstly, the kinematic modeling method of the 6-DOF parallel mechanism with flexible hinges is improved based on the pseudo-rigid body theory in this paper. Secondly, a rigid-flexible coupling simulation system is built to analyze the error sources in terms of the remote center of motion (RCM), preload and side load. Then, the function of motion scaling, the accuracy of kinematic modeling and the validity of the workspace are demonstrated by analyzing the workspace. Finally, the maximum stress and modal analysis are solved to ensure the safety and reliability of the application. The analysis results show that the improved kinematic modeling method improves the positioning accuracy by more than two times, the root mean square error (RSME) at the end of the microsurgical instrument does not exceed 10μm in the workspace. And the microsurgical instrument can withstand a side load of 0.1 N at the RCM. This study will provide a reference for the structural design and control algorithm optimization of the 6-DOF parallel microsurgical instruments.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43867988","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 Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments 用于受限空间组织诊断的柔性机械手:运动学和力分析以及初始表征实验

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-19 DOI: 10.1115/1.4062762

Samson A. Adejokun, P. Shiakolas

{"title":"A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments","authors":"Samson A. Adejokun, P. Shiakolas","doi":"10.1115/1.4062762","DOIUrl":"https://doi.org/10.1115/1.4062762","url":null,"abstract":"\u0000 Minimally invasive procedures employ continuum manipulators, however internal human anatomy presents challenges relating to size, dexterity, and workspace for these manipulators. This manuscript presents modeling, kinematic analysis, prototyping, and characterization of a micro-robotic manipulator for transurethral palpation of bladder tissue. The proposed micro-robot consists of two subsystems: a tendon-driven continuum segment with an elastic tube encompassing each joint for compliance and structural integrity, and a hyper-spherical joint ensuring higher dexterity and manipulability with a comprehensive actuation and modeling approach. The forward kinematics follow the Denavit-Hartenberg formulation. A developed differential Jacobian inverse kinematics formulation prevents motion singularities for desired poses while operating in the confined space. The simulated kinematic results confirm the dexterity and reach of the proposed micro-robot. A strain energy quasi-static model is developed for a single continuum module. The model is evaluated for tension-bend angle relationships as function of tube material and geometry, and joint length. Limited functionality continuum modules (4mm outside diameter) with four different joint lengths, (3, 6, 9, 12) mm, are prototyped for tension-bend angle characterization using a computer vision outfitted experimental setup. An equivalent shear modulus relationship for the elastic tube for selected joint length values and bend angles is developed using experimental results. The tension-bend angle response is nonlinear and function of tube properties, joint geometry, and their interactions. The comparison of the experimental and quasi-static model results shows high fidelity for use in predicting the robot continuum segment behavior.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48128222","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

Erratum: “Robotic Tensegrity Structure with a Mechanism Mimicking Human Shoulder Motion” [ASME J. Mech. Rob. 14(2), p. 025001; DOI: 10.1115/1.4052124] 勘误表：“具有模仿人类肩部运动机制的机器人张紧结构”[ASME J.Mech.Rob.14（2），第025001页；DOI:10.1115/14052124]

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-19 DOI: 10.1115/1.4062763

Lengxue Li, Sunhong Kim, Junho Park, Young-Min Choi, Qiang Lu, D. Peng

引用次数: 0

Development of a Base-Actuated Three-Rhombus Configured Remote Center Of Motion Mechanism for Lumbar Puncture 基础驱动三菱形配置腰部穿刺远程运动中心机构的研制

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-19 DOI: 10.1115/1.4062761

Yuzhou Duan, Jie Ling, Zhao Feng, Daojin Yao, Yuchuan Zhu

{"title":"Development of a Base-Actuated Three-Rhombus Configured Remote Center Of Motion Mechanism for Lumbar Puncture","authors":"Yuzhou Duan, Jie Ling, Zhao Feng, Daojin Yao, Yuchuan Zhu","doi":"10.1115/1.4062761","DOIUrl":"https://doi.org/10.1115/1.4062761","url":null,"abstract":"\u0000 Owing to the advantages of safety and reproducibility, remote center of motion (RCM) mechanisms are adopted in lumbar puncture (LP) procedures to guide the insertion angle and depth. However, the proximal-actuated pattern in existing RCM mechanisms occupies large space near the end effector, which obstructs the visual field and increases the system inertia. In this work, a base-actuated three-rhombus configured RCM mechanism for the LP operation is firstly proposed, where the symmetric three-rhombus scheme is designed for the motion transmission. As a result, the rotational and translational motions of the mechanism are respectively realized through the homodromous and heterodromous actuations of the two base-mounted motors. Kinematic models are established to analyze the manipulability, singularity, and workspace of the RCM mechanism theoretically. Parameter optimization procedure is provided to minimize the footprint of the RCM mechanism. Experimental results show that the mechanism reaches an insertion angle from −29.2° to 29.2°, a maximum insertion depth of 60.02 mm, and a footprint of 4.98 × 104 mm2. The maximum error of the RCM point is 1.1 mm.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45960715","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

Geometric Error Calibration of XYZ-3RPS Hybrid Kinematic Machine via Binocular Vision 基于双目视觉的XYZ-3RPS混合运动机构几何误差标定

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-05 DOI: 10.1115/1.4062465

Xiangyu Guo, Rui Wang, Shisheng Zhong, Yuhao Ge, Lingyu Yue

{"title":"Geometric Error Calibration of <i>XYZ</i>-3RPS Hybrid Kinematic Machine via Binocular Vision","authors":"Xiangyu Guo, Rui Wang, Shisheng Zhong, Yuhao Ge, Lingyu Yue","doi":"10.1115/1.4062465","DOIUrl":"https://doi.org/10.1115/1.4062465","url":null,"abstract":"Abstract To improve the motion accuracy of an XYZ-3RPS hybrid kinematic machine (HKM), a geometric error calibration method via binocular vision measurement is studied. First, to separately calibrate the series kinematic mechanisms (SKMs) and parallel kinematic mechanisms (PKMs), the geometric error identification equations (GEIEs) of the XYZ SKM and 3RPS PKM are derived, respectively. By analyzing the different influence principles of the geometric errors on the position and attitude of the 3RPS PKM, a constraint function is added to the GEIE of the PKM to improve the calculation accuracy. Moreover, the geometric error compensation strategy is based on the structural characteristics of the XYZ-3RPS HKM. In addition, based on the principle of binocular vision measurement, two calibration plates, called dynamic and static calibration plates, are designed as markers to define the coordinate systems, enabling the acquisition of full positions and attitudes. Furthermore, a marker transformation method and an in-situ adjustment method are designed to determine the positions and attitudes of the HKM required for calibration such that the marker is always at the center of the field of view of the camera to improve measurement accuracy. Finally, the effectiveness of the calibration method is verified through prototype experiments.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135657269","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, Dimensional Synthesis and Evaluation of a Novel 2-DOF Spherical RCM Mechanism for Minimally Invasive Surgery 一种用于微创手术的新型2-DOF球形RCM机构的设计、尺寸综合和评价

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-02 DOI: 10.1115/1.4062673

Jianmin Li, Jiatong Wang, Jianchang Zhao, G. Wei

{"title":"Design, Dimensional Synthesis and Evaluation of a Novel 2-DOF Spherical RCM Mechanism for Minimally Invasive Surgery","authors":"Jianmin Li, Jiatong Wang, Jianchang Zhao, G. Wei","doi":"10.1115/1.4062673","DOIUrl":"https://doi.org/10.1115/1.4062673","url":null,"abstract":"\u0000 With the development of minimally invasive surgery (MIS) technology, higher requirements are put forward for the performance of remote center of motion (RCM) manipulator. This paper presents the conceptual design of a novel two degrees of freedom (2-DOF) spherical RCM mechanism, whose axes of all revote joints share the same RCM. Compared with the existing design, the proposed mechanism indicates a compact design and high structure stability, and the same scissor-like linkage makes it easy to realize modular design. It also has the advantages of singularity free and motion decoupling in its workspace, which simplifies the implementation and control of the manipulator. In addition, compared with the traditional spherical scissor linkage mechanism, the proposed mechanism adds a rotation constraint on the output shaft to provide better operating performance. In this paper, the kinematics and singularities of different cases are deduced and compared, and the kinematic model of the best case is established. According to the workspace and constraints in MIS, the optimal structural parameters of the mechanism are determined by dimensional synthesis with the goal of optimal global operation performance. Furthermore, a prototype is assembled to verify the performance of the proposed mechanism. The experimental results show that the 2-DOF prototype can provide a reliable RCM point. The compact design makes the manipulator have potential application prospects in MIS.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42388325","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

Special Issue: Selected Papers from IDETC-CIE 2022 特刊：IDETC-CIE 2022论文选集

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-02 DOI: 10.1115/1.4062671

V. Krovi, Guangbo Hao, Guimin Chen, D. Gan, Abbas Fattah, Carl Nelson

引用次数: 0