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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...
Lubrication failure is one of the main failure forms of gear failure. Time varying meshing stiffness is an important factor affecting the dynamic behavior of gears. However, the influence of oil film stiffness...
The hydraulic exoskeleton is one research hotspot in the field of robotics, which can take heavy load due to the high power density of the hydraulic system. However, the traditional hydraulic system is normal...
The lower-mobility parallel mechanism has been widely used in the engineering field due to its numerous excellent characteristics. However, little work has been devoted to the actuator selection and placement ...
Prostatic hyperplasia and tumor are common diseases, and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted. Taking the robotic manipulator for...
The problem of this paper is the high contact stress at the point of contact between the cam and the follower. A pear cam and roller follower mechanism were studied and analyzed for different position of the f...
Nowadays, mild hypothermia is widely used in the fields of post-cardiac arrest resuscitation, stroke, cerebral hemorrhage, large-scale cerebral infarction, and craniocerebral injury. In this paper, a locally m...
In this study, a humanoid prototype of 2-DOF (degrees of freedom) lower limb exoskeleton is introduced to evaluate the wearable comfortable effect between person and exoskeleton. To improve the detection accur...
Isomorphism detection is fundamental to the synthesis and innovative design of kinematic chains (KCs). The detection can be performed accurately by using the similarity of KCs. However, there are very few work...
Interfacial structure greatly affects the mechanical properties of laminated plates. However, the critical material properties that impact the interfacial morphology, appearance, and associated bonding mechani...
Large pressure equipment needs to be tested regularly to ensure safe operation; wall-climbing robots can carry the necessary tools to inspect spherical tanks, such as cameras and non-destructive testing equipm...
Gas bearings, which have the advantages of low frictional resistance and power loss, high rotational speed and high temperature operation, and long life, are more suitable than are traditional liquid lubricate...
As for the complex operational tasks in the unstructured environment with narrow workspace and numerous obstacles, the traditional robots cannot accomplish these mentioned complex operational tasks and meet th...
Converting customer needs into specific forms and providing consumers with services are crucial in product design. Currently, conversion is no longer difficult due to the development of modern technology, and ...
Current research concerning legged platforms and wheeled platforms primarily focuses on terrain adaptive capability and speed capability, respectively. Compared with wheeled platforms, legged platforms with a ...
The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms, or using screw theory to perform multi...
As a type of multiconfiguration mechanism that can operate in an under-actuated state, metamorphic mechanisms were proposed more than two decades ago and attracted significant interest. Studies on structural s...
Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction, wearable robotics, rehabilitation robotics, etc. In this paper, the authors report on ...
As the structures of multiarm robots are serially arranged, the packaging and transportation of these robots are often inconvenient. The ability of these robots to operate objects must also be improved. Addres...
Space-deployable mechanisms can be used as supporting structures for large-diameter antennas in space engineering. This study proposes a novel method for constructing the surface design of space reflector ante...
It has been challenging to design seedling pick-up mechanism based on given key points and trajectories, because it involves dimensional synthesis and rod length optimization. In this paper, the dimensional sy...
In gear transmission, temperature rise has a non-negligible impact on the accuracy, noise and transmission efficiency. However, there is no relevant research on the temperature rise of the anti-backlash single...
The hydraulic parallel manipulator combines the high-power density of the hydraulic system and high rigidity of the parallel mechanism with excellent load-carrying capacity. However, the high-precision traject...
To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots (CSPRs), point-to-point trajectory planning dema...
Current research of automatic transmission (AT) mainly focuses on the improvement of driving performance, and configuration innovation is one of the main research directions. However, finding new configuration...
Propulsion during push-off is the key to realizing human locomotion. Humans have evolved a way of walking with high energy utilization, but it can be further improved. Drawing inspiration from the muscle-tendo...
To study the characteristics of the 5-prismatic–spherical–spherical (PSS)/universal–prismatic–universal (UPU) parallel mechanism with elastically active branched chains, the dynamics modeling and solutions of ...
Hole drilling or contour milling for the large and complex workpieces such as automobile panels and aircraft fuselages makes a high combined demand on machining accuracy, stiffness and workspace of machining e...
To assist an amputee in regaining his or her daily quality of life, based on analysis of the motion characteristics of the human hip, a 2-UPR/URR parallel mechanism with a passive limb was designed. The inverse k...
