Journal of Mechanisms and Robotics最新文献_第2页

Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots 电缆驱动并联机器人拓扑重组策略

Journal of Mechanisms and Robotics Pub Date : 2024-06-03 DOI: 10.1115/1.4065642

F. Trautwein, David Dietrich, A. Pott, Alexander Verl

引用次数: 0

Kinetostatic modeling of an asymmetrical double stepped beam for displacement amplification 用于位移放大的不对称双阶梯梁的运动静力学建模

Journal of Mechanisms and Robotics Pub Date : 2024-05-15 DOI: 10.1115/1.4065521

Tri-Hieu Nguyen, Huy-Tuan Pham, N. Tran, Dung-An Wang

引用次数: 0

Enhanced Euler-Lagrange Formulation for Analyzing Human Gait with Moving Base Reference 利用移动基座参考分析人体步态的增强型欧拉-拉格朗日公式

Journal of Mechanisms and Robotics Pub Date : 2024-05-15 DOI: 10.1115/1.4065520

Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla

{"title":"Enhanced Euler-Lagrange Formulation for Analyzing Human Gait with Moving Base Reference","authors":"Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla","doi":"10.1115/1.4065520","DOIUrl":"https://doi.org/10.1115/1.4065520","url":null,"abstract":"\u0000 Euler-Lagrange's formulation is known for its systematic and simplified approach in deriving dynamics of complex systems. In order to apply the existing formulation to human gait dynamics, the base reference frame must be assumed as an inertial reference frame. Conventionally, the ankle joint or the hip joint are regarded as base reference frames during the stance and swing phase of human walking. As these joints are non-inertial in nature during actual locomotion, this assumption could result in inaccurate calculation of lower-limb joint torques and forces. Therefore, in this paper, an existing Euler-Lagrange based formulation originally developed for fixed-base robotic manipulators is considered and modified to accommodate the movement of the base reference frame with respect to an inertial frame of reference defined outside the human body. The applicability of the modified formulation is studied, implemented, and validated using three standard and publicly available gait datasets covering the phases of walking and running. The joint torques obtained using the proposed dynamic model are compared with reference torques by calculating the mean absolute error values and visually through Bland-Altman plots. The obtained joint torque values and plots indicate a close agreement with published torques, thereby validating the accuracy of the proposed dynamic model. The robust formulation implementation makes it a valuable resource for researchers in this field, offering a reliable framework for gait analysis and the design of lower-limb prosthetics or exoskeletons.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140974997","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases 基于折痕空间位置的折纸图案刚性可折叠性分析

Journal of Mechanisms and Robotics Pub Date : 2024-05-03 DOI: 10.1115/1.4065461

Feng Wang, Fan Zhang, Guohua Cui

{"title":"Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases","authors":"Feng Wang, Fan Zhang, Guohua Cui","doi":"10.1115/1.4065461","DOIUrl":"https://doi.org/10.1115/1.4065461","url":null,"abstract":"\u0000 Rigid foldability is a special property of rigid origami patterns, where each origami plane remains undeformed during continuous movement along the predetermined crease. Current research on the rigid foldability of origami patterns mainly focuses on kinematics, while less attention is paid to factors that cause deformation of the folding plane. Whether the relative spatial position of adjacent creases has been changed is a critical factor that influences the state (rigid or deformed) of the folding plane between the two adjacent creases during the folding process. This study considered two factors (linear relationship and Euclidean distance) to measure the changes in the spatial positions of creases, explored the relationship between the two factors and rigid folding, and identified deformation forms that affects rigid foldability. First, the origami pattern was regarded as a linkage mechanism, and the linear relationship between creases was determined from the single-vertex origami unit forming this origami structure. Then, the geometric parameters of the origami pattern were used to calculate the Euclidean distance between two points on adjacent creases during the folding process. If the linear relationship and Euclidean distance always remain the same, the origami pattern has rigid foldability. Based on changes in Euclidean distance, this method can also help determine the main deformation of non-rigidly foldable origami patterns. In addition, it further provides a novel approach for determining the layout of the crease position and the judgment of rigid foldability during origami-inspired mechanism design.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141016711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

An Origami-enabled Soft Linear Actuator and its Application on a Crawling Robot 支持折纸的软线性致动器及其在爬行机器人上的应用

Journal of Mechanisms and Robotics Pub Date : 2024-05-03 DOI: 10.1115/1.4065462

Shuiqing Yan, Keyao Song, Xiashuang Wang, Jiake Li, Ma Zhe, Xiang Zhou

{"title":"An Origami-enabled Soft Linear Actuator and its Application on a Crawling Robot","authors":"Shuiqing Yan, Keyao Song, Xiashuang Wang, Jiake Li, Ma Zhe, Xiang Zhou","doi":"10.1115/1.4065462","DOIUrl":"https://doi.org/10.1115/1.4065462","url":null,"abstract":"\u0000 Soft linear actuators have strong deformation ability and good environmental adaptability, which have been widely used in soft robot design. However, little work has focused on designing soft linear actuators with balanced performances, featuring fast driving speed, large output displacement, lightweight, and miniaturization. Herein, we present a novel soft linear actuator design based on the Kresling origami structure. By driving the Kresling tubes with a servo motor, the soft linear actuator has good compliance and strong environmental adaptability and can achieve fast driving speed, large driving force, and high control precision comparable to the traditional electrical motor. The analytical models of the Kresling tubes and the whole actuator are respectively derived to analyze the mechanical properties, determine the optimal geometry of the Kresling tube and evaluate the driving performance of the whole actuator. The actuator prototype is fabricated by 3D printing, and the actual driving performance is tested. It is shown that the prototype can achieve a maximum output displacement of 18.9 mm without payload or 16mm under a payload of 30 N. Finally, as a case study, the soft linear actuator is applied to a crawling robot, where the maximum moving speed of 28 mm/s is reached.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141016684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Analysis of Instantaneous Kinematic Properties regarding the Shape of Robotic Mechanisms 有关机器人机构形状的瞬时运动特性分析

Journal of Mechanisms and Robotics Pub Date : 2024-04-23 DOI: 10.1115/1.4065371

Keisuke Arikawa

{"title":"Analysis of Instantaneous Kinematic Properties regarding the Shape of Robotic Mechanisms","authors":"Keisuke Arikawa","doi":"10.1115/1.4065371","DOIUrl":"https://doi.org/10.1115/1.4065371","url":null,"abstract":"\u0000 We demonstrate the general formulation of a method for conducting a kinematic analysis regarding the shape formed by multiple reference links on robotic mechanisms. In contrast to the standard kinematic analysis of robot manipulators that assumes having a single hand link configuration with respect to the base link, the formulated kinematic analysis regarding the shape is free from this assumption. Consequently, an analysis without specifying base link and that about shape defined by multiple reference links are possible. Moreover, the kinematic properties, which are invariant from the switching of base and hand links, can be obtained. First, a method to decompose motions of multiple bodies into rigid and non-rigid components is formulated. Then, the method is generalized considering the weights for translational and angular velocities. Next, Jacobian matrices that relate active joint velocities and non-rigid motions (change in the shape) of specified reference links on the robotic mechanism are defined. Subsequently, certain measures for evaluating shape controllability are defined based on the measures for evaluating hand configuration controllability of robot manipulators. Finally, some application examples using the defined measures are demonstrated.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140666888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Folding Auxetic Polygonal Kirigami Tubes 折叠辅助多边形桐花纹管

Journal of Mechanisms and Robotics Pub Date : 2024-04-23 DOI: 10.1115/1.4065372

Martin Walker

{"title":"Folding Auxetic Polygonal Kirigami Tubes","authors":"Martin Walker","doi":"10.1115/1.4065372","DOIUrl":"https://doi.org/10.1115/1.4065372","url":null,"abstract":"\u0000 Tubular auxetic structures have wide-ranging applications including medical stents, collapsible energy absorbers, and novel fasteners. To expand development in these areas, and open up new application directions, an expanded range of design and construction methods for auxetic tubes is required. In this study we propose a new method to construct polygonal cross-section auxetic tubes using the principles of origami and kirigami. These tubes exhibit useful global auxetic behaviour under axial extension, despite the individual polygon faces not being auxetic themselves. A flat kirigami sheet cannot be simply folded into a polygonal tube since this creates kinematic incompatibilities along the polygon edges. This is resolved by replacing the edge folds with an origami mechanism consisting of a pair of triangular facets. This approach eliminates the incompatibilities at the edges while maintaining a connection between faces. The proposed edge connection also introduces additional control parameters for the tube kinematics: for example, introducing a kinematic limit on tube extension and enabling non-uniform behaviour along the length of the tube. The rich kinematic behaviour possible with polygonal cross-section kirigami tubes has potential applications ranging from soft robotics to energy-dissipating devices.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140666599","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Wrench estimation and friction compensation using multiple shooting method for tether units augmented to remote tendon-driven continuum robots 利用多重射击法对远程肌腱驱动连续机器人的系绳装置进行扳手估算和摩擦补偿

Journal of Mechanisms and Robotics Pub Date : 2024-04-23 DOI: 10.1115/1.4065370

J. Chien, Clarissa Leong, Jingmin Liu, S. Foong

{"title":"Wrench estimation and friction compensation using multiple shooting method for tether units augmented to remote tendon-driven continuum robots","authors":"J. Chien, Clarissa Leong, Jingmin Liu, S. Foong","doi":"10.1115/1.4065370","DOIUrl":"https://doi.org/10.1115/1.4065370","url":null,"abstract":"\u0000 Remote actuated mechanisms that employ tendon sheaths or tether units can transmit mechanical force without directly connecting the actuators to the mechanism, but suffer from undesirable side effects like mechanical friction and induced external wrench disturbances on the distal side of the mechanism. In this work, a multiple shooting method is proposed as a superior method to the single shooting method to solve the Cosserat rod boundary value problems, to obtain the states of the system. With that, numerical experiments are provided to demonstrate the difficulty of solving these boundary value problems, simultaneously showing the validity of the proposed approach. 2D reconstruction experiments were conducted to show shape reconstruction capabilities. Additionally, friction loss and 6-DOF wrench estimations were also experimentally validated with the proposed mathematical model with 0.1679N and 0.0401Nm for RMSE force estimation and torque estimation error respectively, while achieving a 3% mean absolute percentage steady state friction estimation error. Lastly, a modified resolved rates controller was applied to steer a remote tendon-driven continuum robot to compensate for friction loss for 3.1m long tether units.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140668821","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","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 experiment of an ankle rehabilitation robot after fracture surgery 骨折手术后踝关节康复机器人的设计与实验

Journal of Mechanisms and Robotics Pub Date : 2024-04-23 DOI: 10.1115/1.4065392

Monan Ni, Jialin Liu, Zhenhui Sun, Tao Sun

引用次数: 0

A Three-Actuator Cable-Driven Parallel Robot with a Rectangular Workspace 带矩形工作空间的三执行器线缆驱动平行机器人

Journal of Mechanisms and Robotics Pub Date : 2024-04-23 DOI: 10.1115/1.4065393

Foroogh Behroozi, Ramin Mersi, Antoine Benoist, Ru-Ying Yong, P. Cardou, Stéphane Caro

{"title":"A Three-Actuator Cable-Driven Parallel Robot with a Rectangular Workspace","authors":"Foroogh Behroozi, Ramin Mersi, Antoine Benoist, Ru-Ying Yong, P. Cardou, Stéphane Caro","doi":"10.1115/1.4065393","DOIUrl":"https://doi.org/10.1115/1.4065393","url":null,"abstract":"\u0000 In the realm of cable-driven parallel robots (CDPRs), the conventional notion entails that each cable is directly actuated by a corresponding actuator, implying a direct relationship between the number of cables and actuators. However, this paper introduces a paradigm shift by contending that the number of cables should be contingent upon the desired workspace, while the number of actuators should align with the robot's degrees of freedom (DoF). This novel perspective leads to an unconventional design methodology for CDPRs. Instead of commencing with the number of actuators and cables in mind, we propose an approach that begins with defining the required workspace shape and determines the requisite number of cables. Subsequently, an actuation scheme is established where each actuator can drive multiple cables. This process entails the formulation of a transmission matrix that captures the interplay between actuators and cables, followed by the mechanical implementation of the corresponding cable-pulley routing. To illustrate this approach, we provide an example involving a 2-DoF CDPR aimed at covering a rectangular workspace. Notably, the resulting Wrench-Closure Workspace (WCW) and Wrench-Feasible Workspace (WFW) of the proposed designs exhibit favorable comparisons to existing CDPRs with more actuators.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140669816","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0