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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...
The simulation and planning system (SPS) requires accurate and real-time feedback regarding the deformation of soft tissues during the needle insertion procedure. Traditional mechanical-based models such as th...
Positioning and navigation technology is a new trend of research in mobile robot area. Existing researches focus on the indoor industrial problems, while many application fields are in the outdoor environment,...
The recirculating planetary roller screw mechanism (RPRSM) is a transmission mechanism that engages the screw and nut threaded by multiple grooved rollers. In this paper, firstly, the design method of RPRSM nu...
Dyskinesia of the upper limbs caused by stroke, sports injury, or traffic accidents limits the ability to perform the activities of daily living. Besides the necessary medical treatment, correct and scientific...
The parasitic motion has been widely recognized as the major drawback of the parallel mechanism. Therefore a class of 2R1T PMs (parallel mechanism) without parasitic motion has been synthesized. However, these...
Surgical robots have been widely used in different procedures to improve and facilitate the surgery. However, there is no robot designed for endometrial regeneration surgery, which is a new therapy for restori...
Minimally invasive surgery is an important technique used for cytopathological examination. Recently, multiple studies have been conducted on a three-dimensional (3D) puncture simulation model as it can reveal...
The length of flexible manipulators with a telescopic arm alters during movement. The dynamic parameters of telescopic flexible manipulators exhibit significant time-varying characteristics owing to variations...
With the increasingly more extensive application of the medical surgical robot in the clinic, higher requirements have been put forward for medical robots. The bone-attached robot, a popular orthopedic robot i...
This paper presents the kinematic calibration of a novel six-legged walking machine tool comprising a six-legged mobile robot integrated with a parallel manipulator on the body. Each leg of the robot is a 2-un...
In order to improve the low output accuracy caused by the elastic deformations of the branch chains, a finite element-based dynamic accuracy analysis method for parallel mechanisms is proposed in this paper. F...
Large quadruped mammals, such as ruminants, have outstanding motion ability, including running and bounding. These advanced motion abilities are related to the buffer effect of their complicated musculoskeleta...
Robotic splicing of steel arches is a challenging task that is necessary to realize the grasping and docking of steel arches in a limited space. Steel arches often have a mass of more than 200 kg and length of...
Current research on spherical parallel mechanisms (SPMs) mainly focus on surgical robots, exoskeleton robots, entertainment equipment, and other fields. However, compared with the SPM, the structure types and ...
Recirculation is expected to be identified for its possibility to dramatically decrease the efficiency of planetary gear trains (PGTs). However, it exhibits an unexplained connection with the structure, making...
The current research of nuclear control rod drive mechanism (CRDM) movable latch only makes a simple measurement of wear mass. The wear volume and difference in various claw surfaces are ignored and the degrad...
An automatic markerless knee tracking and registration algorithm has been proposed in the literature to avoid the marker insertion required by conventional computer-assisted knee surgery, resulting in a shorte...
Because of their elastic links and joints, high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy. An effectiv...
The water-lubricated bearings are usually the state of turbulent cavitating flow under high-speed conditions. And the distribution of cavitation bubbles and the interface effect between the two phases have not...
To integrate driver experience and heterogeneous vehicle platform characteristics in a motion-planning algorithm, based on the driver-behavior-based transferable motion primitives (MPs), a general motion-plann...
Robot manipulators perform a point-point task under kinematic and dynamic constraints. Due to multi-degree-of-freedom coupling characteristics, it is difficult to find a better desired trajectory. In this pape...
To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases, this paper proposes a novel gait balance training robot (G-Balance) based on a si...
Vertical picking method is a predominate method used to harvest cotton crop. However, a vertical picking method may cause spindle bending of the cotton picker if spindles collide with stones on the cotton fiel...
In this paper, a new fuzzy approach is applied to optimal design of the anti-skid control for electric vehicles. The anti-skid control is used to maintain the wheel speed when there are uncertainties. The cont...
The singularity problem brings troubles to the design and application for the parallel mechanism. Currently, redundant actuation is one of the useful methods to solve this singularity problem. However, faced t...
Deformation of the flexspline is the basis of analyzing tooth trajectory and designing tooth profile. Considering the tooth influence on the position of equivalent neutral layer, a piecewise method for calcula...
Walking assistance can be realized by active and passive robotic walkers when their users walk on even roads. However, fast signal processing and real-time control are necessary for active robotic walkers when...
Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms, and the generalized analysis method and concise kinematics transfer matrix are obtained. In this study,...
Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined workspace. However, few devices can capture irregularly shaped dynamic targets in space, underw...
Motion control of the human hand is the most complex part of the human body. It has always been a challenge for a good balance between the cost, weight, responding speed, grasping force, finger extension, and ...
The distinguishing feature of a vertical ball screw feed system without counterweight is that the spindle system weight directly acts on the kinematic joints. Research into the dynamic characteristics under ac...
