Related papers: Analysis of Various Manipulator Configurations Bas…
Robots generally have a structure that combines rotational joints and links in a serial fashion. On the other hand, various joint mechanisms are being utilized in practice, such as prismatic joints, closed links, and wire-driven systems.…
This study is on the enumeration of spatial robotic manipulators, which is an essential basis for a companion study on dimensional synthesis, both of which together present a wider utility in manipulator synthesis. The enumeration of…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
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…
The range of robot activities is expanding from industries with fixed environments to diverse and changing environments, such as nursing care support and daily life support. In particular, autonomous construction of robots that are…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
A force balanced manipulator design based on the closed chain planar five bar linkage is developed and experimentally validated. We present 2 variants as a modular design: Forbal-2, a planar 2-DOF manipulator, and its extension to 5-DOF…
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…
A new kind of six degree-of-freedom teaching manipulator without actuators is designed, for recording and conveniently setting a trajectory of an industrial robot. The device requires good gravity balance and operating force performance to…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…
Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…
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…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
This paper proposes a framework that optimizes the linkage mechanism of the quasi-serial manipulator for target tasks. This process is explained through a case study of 2-degree-of-freedom linkage mechanisms, which significantly affect the…