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The establishment of an elastostatic stiffness model for over constrained parallel manipulators (PMs), particularly those with over constrained subclosed loops, poses a challenge while ensuring numerical stabi...
The encapsulation of lunar samples is a core research area in the third phase of the Chinese Lunar Exploration Program. The seal assembly, opening and closing mechanism (OCM), and locking mechanism are the cor...
Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjustment. Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the p...
A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair. With its lightweight design, high load-bearing capacity, and smooth surface, the coupled-drive joint is parti...
Currently, two rotations and one translation (2R1T) three-degree-of-freedom (DOF) parallel mechanisms (PMs) are widely applied in five-DOF hybrid machining robots. However, there is a lack of an effective meth...
To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot (ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at t...
Automation advancements prompts the extensive integration of collaborative robot (cobot) across a range of industries. Compared to the commonly used design approach of increasing the payload-to-weight ratio of...
Architectural singularity belongs to the Type II singularity, in which a parallel manipulator (PM) gains one or more degrees of freedom and becomes uncontrollable. PMs remaining permanently in a singularity ar...
The lower limb exoskeletons are used to assist wearers in various scenarios such as medical and industrial settings. Complex modeling errors of the exoskeleton in different application scenarios pose challenge...
Existing mobile robots mostly use graph search algorithms for path planning, which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity. Due to the limitat...
The most widely adopted method for diagnosing respiratory infectious diseases is to conduct polymerase chain reaction (PCR) assays on patients’ respiratory specimens, which are collected through either nasal o...
Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction condition. However, due to unknown model parameters such as the mass, ...
The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle, which influences the rehabilitation effect. Therefore, this study equa...
The current parallel ankle rehabilitation robot (ARR) suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation, which may lead to secondary injuries to the patient....
The current gait planning for legged robots is mostly based on human presets, which cannot match the flexible characteristics of natural mammals. This paper proposes a gait optimization framework for hexapod r...
Aiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor human-machine motion compatibility, an equivalent series mechan...
The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough terrain. However, most of the wheel-legged robots only ha...
The pose accuracy of parallel manipulators (PMs) is a key index to measure their performance. Establishing the gravity-based kinetostatic model of a parallel robot provides an important basis for its error com...
The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its...
Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception, force interaction, spatial obstacle avoidance, and motion planning...
Legged robots use isolated footholds to support, which have the merit of good terrain trafficability but lack speed ability. In contrast, wheeled robots have the advantages of high speed and efficiency but onl...
Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically affects the accuracy, reliability, and stability of identification results. In this ...
Deployable mechanism with preferable deployable performance, strong expansibility, and lightweight has attracted much attention because of their potential in aerospace. A basic deployable pyramid unit with goo...
The use of non-smart materials in structural components and kinematic pairs allows for flexible assembly in practical applications and is promising for aerospace applications. However, this approach can result...
The steel lining of huge facilities is a significant structure, which experiences extreme environments and needs to be inspected periodically after manufacture. However, due to the complexity (crisscross welds...
A three-dimensional conjugate tooth surface design method for Harmonic Drive with a double-circular-arc tooth profile is proposed. The radial deformation function of the flexspline (FS), obtained through Finit...
In order to improve the elderly people’s quality of life, supporting their walking behaviors is a promising technology. Therefore, based on one ultrasonic motor, a wire-driven series elastic mechanism for walk...
Serving the Stewart mechanism as a wheel-legged structure, the most outstanding superiority of the proposed wheel-legged hybrid robot (WLHR) is the active vibration isolation function during rolling on rugged ...
To explore hostile extraterrestrial landforms and construct an engineering prototype, this paper presents the task-oriented topology system synthesis of reconfigurable legged mobile lander (ReLML) with three o...
Current research on autonomous mobile robots focuses primarily on perceptual accuracy and autonomous performance. In commercial and domestic constructions, concrete, wood, and glass are typically used. Laser a...
Rehabilitation robots can help physiatrists to assist patients in improving their movement ability. Due to the interaction between rehabilitation robots and patients, the robots need to complete rehabilitation...
Continuum robots actuated by flexible rods have large potential applications, such as detection and operation tasks in confined environments, since the push and pull actuation of flexible rods withstand tensio...
Cavitation generation methods have been used in multifarious directions because of their diversity, and numerous studies and discussions have been conducted on cavitation generation methods. This study aims to...
Teleoperation can assist people to complete various complex tasks in inaccessible or high-risk environments, in which a wearable hand exoskeleton is one of the key devices. Adequate adaptability would be avail...
The urgent need to develop customized functional products only possible by 3D printing had realized when faced with the unavailability of medical devices like surgical instruments during the coronavirus-19 dis...
The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration. However, due to the particularity of its parallel structure, the e...
Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability, but its force analysis is complex and difficult because the mechanism system contains overconstraints. Consid...
Online parameter identification is essential for the accuracy of the battery equivalent circuit model (ECM). The traditional recursive least squares (RLS) method is easily biased with the noise disturbances fr...
Polishing plays an indispensable role in optical processing, especially for large-aperture optical reflective mirrors with freeform surfaces. Robotic polishing requires effective control of the contact force b...
The teleoperation of a 6 degrees-of-freedom (DOF) manipulator is one of the basic methods to extend people’s capabilities in the wide variety of applications. The master interface based on the force/torque (FT...
Selecting the optimal speed for dynamic obstacle avoidance in complex man–machine environments is a challenging problem for mobile robots inspecting hazardous gases. Consideration of personal space is importan...
Reducing the radiated noise of a gearbox is a difficult problem in aviation, navigation, machinery, and other fields. Structural improvement is the main means of noise reduction for a gearbox, and it is realiz...
High-speed parallel robots have been extensively utilized in the light industry. However, the influence of the nonlinear dynamic characteristics of high-speed parallel robots on system’s dynamic response and s...
A novel compliant mechanism with RPR degrees of freedom (DOF) is proposed where R and P represent rotation and translation DOFs, respectively. The proposed compliant mechanism is obtained from dimension synthe...
In the present study, the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective. In this paper, kinematics of the hybrid manipulator, including the forward and inverse posi...
The manufacturing of spiral groove structure of two-dimensional valve (2D valve) feedback mechanism has shortcomings of both high cost and time-consuming. This paper presents a novel configuration of rotary el...
For the development of a parallel mechanism (PM), it is necessary to establish a dynamic model which can accurately meet the requirements of real-time control. Compared with the general dynamic analysis model ...
Water-based lubrication is an effective method to achieve superlubricity, which implies a friction coefficient in the order of 10−3 or lower. Recent numerical, analytical, and experimental studies confirm that th...
Industrial robots are increasingly being used in machining tasks because of their high flexibility and intelligence. However, the low structural stiffness of a robot significantly affects its positional accura...
The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism. In this paper, the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic re...
