Related papers: A Comparative Study on 2-DOF Variable Stiffness Me…
In this study, we present the Differential Spiral Joint (DSJ) mechanism for variable stiffness actuation in tendon-driven robots. The DSJ mechanism semi-decouples the modulation of position and mechanical stiffness, allowing independent…
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its…
This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of the first machine are orthogonal whereas…
The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or…
The paper focuses on the stiffness modeling of parallel manipulators composed of non-perfect serial chains, whose geometrical parameters differ from the nominal ones. In these manipulators, there usually exist essential internal…
Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple…
The dynamic characteristics of near-field levitation bearings have been investigated in this study. Through theoretical analysis, two different types of system stiffness are defined and derived analytically. The dynamic stiffness relates…
Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs…
A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
Semi-active vibration reduction techniques are defined as techniques in which controlled actions do not operate directly on the system's degrees of freedom (as in the case of active vibration control) but on the system's parameters, i.e.,…
The paper focuses on the stiffness modeling of robotic manipulators with gravity compensators. The main attention is paid to the development of the stiffness model of a spring-based compensator located between sequential links of a serial…
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…
A spring in parallel with an effort source (e.g., electric motor or human muscle) can reduce its energy consumption and effort (i.e., torque or force) depending on the spring stiffness, spring preload, and actuation task. However, selecting…
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. However, the elementary robotic configuration and geometric…
This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Tensegrity mechanisms have several interesting properties that make them suitable for a number of applications. Their analysis is generally challenging because the static equilibrium conditions often result in complex equations. A class of…