... by the Design Engineering Division of ASME for publication in the J ournal of M echanisms and R obotics . 26 10 2024 16 01 2025 17 01 2025 27 02 2025 compliant mechanisms and robots kinematics dynamics control of mechanical systems mechanism synthesis and analysis parallel...

... involves learning the dynamics of the hybrid arm operating at 4 H z and leveraging it to generate optimal trajectories that serve as expert data to learn a control policy. We performed an extensive evaluation of the policy on a physical hybrid arm capable of jointly controlling rigid and soft actuation. We...

.... To achieve smooth control of the flexible exoskeleton, a hardware control system based on STM32 is constructed. The study establishes the theoretical dynamics model and motion characteristic equations for the soft exoskeleton. To minimize assistive errors, a control strategy is designed based...

... kinematic quantities dual numbers robots and mechanisms kinematics dynamics and control of mechanical systems mechanism synthesis and analysis mechanisms and robots theoretical and computational kinematics Error or uncertainty propagation is a subject of great relevance in the physical...

...Thibault Garcia; Didier Rémond; Simon Chesné Cable-driven parallel robots (CDPRs) are well appreciated for high dynamics applications, due to their lightweights moving parts. Nevertheless, due to the low stiffness of cables, vibrations can occur and can degrade performances if high precision...

... factor impeding the transmission of steel cable is the internal friction torque generated by bearings on the pulley, which can be determined using the following formula: (6) M b = M 1 + M 0 where M 1 is the component of friction torque associated with the dynamic load magnitude...

... control of the TSM is challenging due to its shape-dependent deformation and force generation, highlighting the need to address shape variations in dynamic environments where direct measurement is impractical. This article introduces a novel methodology leveraging the concept of the equivalent circle...

... kinematics dynamics and control of mechanical systems mechanisms and robots motion and manipulation planning Singapore University of Technology and Design 10.13039/501100007040 RTDST230617 In recent years, legged robots’ capabilities have increased significantly [ 1 – 3 ]. Now...

... with visual servoing control for instance. In the general context of multibody dynamics, the shape representation is also relevant in the area of flexible multibody dynamics in general [ 29 – 31 ]. Interpolation of the beam deflection is a purely kinematic problem defined by the boundary conditions...

... kinematic criteria moment-based method industrial robots data-enabled analysis of mechanical systems and robots kinematics dynamics and control of mechanical systems mechanisms and robots multi-robot systems National Natural Science Foundation of China 10.13039/501100001809 Grant Nos...

... and R obotics . 24 01 2024 27 09 2024 27 09 2024 01 11 2024 cooperative object transport multi-robot systems non-contact mechanisms magnetic pushing leader–follower formation kinematics dynamics and control of mechanical systems mechanisms and robots...

... Precise manipulation Fully capable Fully capable Limited by robot roll RoM Heavy payload lifting and transporting Limited at 2 kg payload Maximum payload 5 kg Maximum payload 8 kg Door interaction Fully capable Fully capable Limited by robot roll RoM Dynamic tasks like object tossing...

... . 07 11 2023 12 07 2024 15 07 2024 20 09 2024 Email: zhiguangx_hit@163.com Email: yangguoguo@math.pku.edu.cn Email: wangpengyuan329@163.com Email: wuhuzhengzheng@126.com 1 Corresponding author. Email: zhaojianwen@hit.edu.cn kinematics dynamics...

...Sunil Gora; Shakti S. Gupta; Ashish Dutta Gait generation of a humanoid robot on a deformable terrain is a complex problem as the foot and terrain interaction and terrain deformation have to be included in the dynamics. To simplify the dynamics of walk on deformable terrain, we used a spherical...

... a broad range of biological species including cockroaches, quail, and kangaroo and found that a large majority of legged systems have a non-dimensional stiffness within a range of 7–27 [ 8 ]. This observational study concluded that the dynamics of these legged systems could be well approximated...

...A. Ghoul; S. Djeffal; H. Wang; K. Kara; M. L. Hadjili This paper tackles the challenges encountered in surgical continuum robotics by introducing a dynamic model tailored for a cable-driven continuum robot. The intricacies of dynamic modeling and control frequently lead to suboptimal outcomes...

.... Second, the kinematics of the new deployable mast mechanism is established based on its structural symmetry and modular features. Third, the deploying dynamics of the new mechanism are built based on the Lagrange equation. Fourth, the deployed/folded ratio, interference, and singularity of the new...

... reconfigurable closed-chain leg, allowing for flexible trajectory by adjusting the length of the hydraulic cylinder. Kinematic model and system dynamics are analyzed considering the multi-body dynamics of the proposed system. To actively adapt to different terrains with flexible footprints, a variable-domain...

.... The dynamics model of the overall system is then derived, and a sensitivity analysis is performed over a finite number of different trajectories, in order to evaluate the quasi-static assumption, the effects of the model, and the influence of the elastic constraint. Finally, experiments have been performed...

...Sekar Anup Chander; Ashutosh Mukherjee; Vhatkar Dattatraya Shivling; Ashish Singla Euler–Lagrange's formulation is known for its systematic and simplified approach to deriving dynamics of complex systems. In order to apply the existing formulation to human gait dynamics, the base reference frame...