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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...
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...
