... OURNAL OF M ECHANISMS AND R OBOTICS . Manuscript received March 8, 2018; final manuscript received August 1, 2018; published online September 17, 2018. Assoc. Editor: Hai-Jun Su. 08 03 2018 01 08 2018 Actuators Compliant mechanisms Folding Origami Transmissions...

... a roller to decrease the friction. We investigated the transmission principle and the kinematic characteristics of this FSM, established the model of the velocity, acceleration of the roller, characterized the feed motion characteristics of the flexible shaft, and achieved an analytical solution...

... synthesis Robot design Transmissions The Boerdijk–Coxeter helix [ 1 ] (BC helix) (see Figs. 1 and 2 ) is a face-to-face stack of tetrahedra that winds about a straight axis. Architects, structural engineers, and roboticists are inspired by and follow such regular mathematical models. However...

...-Density Passive Brake for Human-Friendly Robots ,” IEEE/ASME Trans. Mechatronics , 21 ( 6 ), pp. 2827 – 2835 . 10.1109/TMECH.2016.2575441 [14] Cusimano , G. , 2007 , “ Optimization of the Choice of the System Electric Drive-Device–Transmission for Mechatronic Applications ,” Mech. Mach...

.... Mechatronics , 4 ( 4 ), pp. 378 – 386 . 10.1109/3516.809516 [18] Van de Straete , H. J. , De Schutter , J. , and Leuven , K. U. , 1999 , “ Optimal Variable Transmission Ratio and Trajectory for an Inertial Load With Respect to Servo Motor Size ,” ASME J. Mech. Des. , 121 ( 4 ), pp. 544...

... of morphology and motion. By using trajectory optimization, we can see how the choice of transmission ratio and stiffness change for a particular implementation and how these parameters and the resulting motion mutually influence each other. Recognizing these relationships opens the possibility to make robots...

... Transmissions Parallel mechanisms have been extensively used in different robotic applications due to their closed-loop architecture. This feature contributes to structural rigidity, high load capacity for a smaller mass, and higher position accuracy [ 1 ]. Therefore, intrinsic compliance within...

... Manuscript received May 8, 2017; final manuscript received November 15, 2017; published online December 22, 2017. Assoc. Editor: Philippe Wenger. 08 05 2017 15 11 2017 Actuators Compliant mechanisms Dynamics Mechanism design Robot design Transmissions Soft or elastic robot...

... design Parallel platforms Robot design Theoretical kinematics Transmissions 23 07 2017 18 10 2017 Manuscript received July 23, 2017; final manuscript received October 18, 2017; published online December 22, 2017. Assoc. Editor: Shaoping Bai. 2 R, P, H, C denote revolute...

... is established by gear 2 and 3, which are rigidly connected such that (9) ω 3 = ω 2 Table 1 Transmission ratio of the four concept variations given in Fig. 4 , where gear 3 and 4 are noncircular gears Concept Transmission ratio ω out / ω in Suitable...

...Elias Brassitos; Nader Jalili Space robots require compact joint drive systems (JDSs), typically comprising of actuator, transmission, joint elements that can deliver high torques through stiff mechanical ports. Today's conventional space drive systems are made from off-the-shelf actuators...

...Michael J. Martell; J. C. Díaz; Joshua A. Schultz This paper presents a framework based on multiport network theory for modeling underactuated grippers where the actuators produce finger motion by deforming an elastic transmission mechanism. If the transmission is synthesized from compliant...

... dynamics Exoskelotons Transmissions The VariLeg is a lower-limb exoskeleton that enables paraplegic people to walk again (see Fig. 1 ) [ 1 , 2 ]. It was developed for both the participation in the “Powered Exoskeleton Race” of the first Cybathlon in 2016 [ 3 ] and as a research platform...

... Wearable robots Transmissions Loss of balance accounts for a significant proportion of injuries among all age groups, but is known to be particularly detrimental among the elderly [ 1 , 2 ] and those with sensory deficit disorders such as stroke survivors and patients with Parkinson's disease [ 3...

... online August 4, 2017. Assoc. Editor: Andreas Mueller. 03 10 2016 10 06 2017 Actuators Mechanism design Parallel platforms Robot design Transmissions A parallel robot, also known as a parallel-kinematics machine (PKM), is defined as a multi-degree-of-freedom (DOF...

...Xingwei Zhao; Haitao Liu; Huafeng Ding; Lu Qian An approach for the force/motion transmissibility analysis of full mobility planar multiloop mechanisms (PMLM) is proposed in this paper by drawing on the duality of twist space and wrench space. By making a comparison study, it is concluded...

..., 2017; published online June 14, 2017. Assoc. Editor: Veronica J. Santos. 05 11 2016 26 04 2017 Actuators Cable driven mechanisms Medical robotics Transmissions Tendon-actuated dexterous manipulators (TA–DMs) can serve as end-effectors to provide great flexibility...

....2005.1545144 Actuators Dynamics Mechanism design Novel Fabrication Techniques Parallel platforms Transmissions Voice coil actuators (VCAs) are noncommutative, simple electro-mechanical mechanisms which generate motion in response to an electrical input. Generally, they consist of a current...

... March 22, 2017; published online May 17, 2017. Assoc. Editor: Robert J. Wood. 06 11 2016 22 03 2017 Actuators Soft robots Theoretical kinematics Transmissions The great majority of the modern literature on modeling and control of continuum/soft manipulators is based...

... control of the actuators and backdrivability of the transmission, thus making it ideal for HRI haptic applications or fragile object manipulation. The authors wish to thank Mr. Antoine Bartzen Spraurer from the École spéciale militaire de Saint-Cyr for his effort in planar coil manufacturing...