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Keywords: elasticity
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Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2011, 3(4): 041006.
Published Online: September 27, 2011
...Shuguang Huang; Joseph M. Schimmels This paper presents a new method for the realization of a planar compliant behavior with an elastic mechanism. The mechanisms considered are parallel with symmetric geometry. We show that any planar stiffness matrix can be realized using a parallel mechanism with...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021011.
Published Online: April 11, 2011
... , S. , 2008 , “ An Application of Parallel Singularity in Variable Stiffness Elements ,” Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE) . cables (mechanical) elasticity structural...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011001.
Published Online: November 23, 2010
... elasticity, where translational and rotational compliances are decoupled. Furthermore, the translational compliance may be represented graphically as an ellipse and the coupling between the translational and rotational components as vectors. These representations facilitate geometric insight into the...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041009.
Published Online: September 30, 2010
... ,” ASME J. Mech. Des. 0161-8458 , 125 ( 1 ), pp. 105 – 109 . 10.1115/1.1539510 algebra elasticity manipulator kinematics shear modulus In recent literature, there has been much interest in the Schönflies subgroups of the group of rigid-body displacements, see Refs. 11 12 , for...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041006.
Published Online: September 30, 2010
...Shorya Awtar; Kevin Shimotsu; Shiladitya Sen Redundant constraints are generally avoided in mechanism design because they can lead to binding or loss in expected mobility. However, in certain distributed-compliance flexure mechanism geometries, this problem is mitigated by the phenomenon of elastic...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041001.
Published Online: August 30, 2010
... Emphasis on Non-Linear Characteristics ,” J. Sound Vib. 0022-460X , 179 ( 3 ), pp. 427 – 453 . 10.1006/jsvi.1995.0028 elasticity engines mathematical analysis mountings springs (mechanical) Summary of the information provided by the four subspaces of A ( 14 ) Name of...
Journal Articles
Article Type: Design Innovations
J. Mechanisms Robotics. November 2010, 2(4): 045001.
Published Online: August 30, 2010
...Burak Demirel; M. Tolga Emirler; Ümit Sönmez; Ahmet Yörükoğlu A novel design of compliant slider-crank mechanism is introduced and utilized as an impact and contact-force generator. This class of compliant slider mechanisms incorporates an elastic coupler, which is an initially straight flexible...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031011.
Published Online: July 23, 2010
... Yu , J. P. , 2010 , “ Autoderivation of Topological Graphs for Type Synthesis of Planar 3DOF Parallel Mechanisms ,” ASME J. Mech. Rob. 1942-4302 , 2 ( 1 ), pp. 0110021 . elasticity redundant manipulators redundant closed mechanism topological graph array ( a ) A CG...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. May 2010, 2(2): 021010.
Published Online: April 26, 2010
... force sensors to measure forces at this scale that can be easily integrated into standard microrobotic test-beds. In our previous work, we presented a design consisting of a planar, elastic mechanism with known force-deflection characteristics. It was inspired by the designs of pre-existing micro...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. May 2010, 2(2): 021004.
Published Online: April 15, 2010
... manipulators legged locomotion manipulator dynamics position control shear modulus parallel manipulators elasticity singularity dynamics force management trajectory planning Kinematic chain of the planar 5R parallel manipulator Initial, singular, and final positions of the planar...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. November 2009, 1(4): 044501.
Published Online: September 18, 2009
... 18 09 2009 Migliore , S. , Brown , E. , and DeWeerth , S. , 2007 , “ Novel Nonlinear Elastic Actuators for Passively Controlling Robotic Joint Compliance ,” ASME J. Mech. Des. 0161-8458 , 129 , pp. 406 – 412 . 10.1115/1.2429699 Filippini , R. , Sen , S...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. May 2009, 1(2): 021011.
Published Online: January 12, 2009
... optimization. With a state equation of the mechanism defined by the elasticity theory, the model incorporates not only the kinematic function requirements of the mechanism but, more importantly, the necessary conditions on the compliance characteristics of the mechanism’s structure. The kinematics of the...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2009, 1(1): 011015.
Published Online: September 5, 2008
... itself inside out in a single continuous motion, effectively generating the overall motion of the cytoplasmic streaming ectoplasmic tube in amoebae. With an elastic membrane or a mesh of links acting as its outer skin, the robot can easily squeeze between obstacles or under a collapsed ceiling and move...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2009, 1(1): 011006.
Published Online: July 30, 2008
...Simon Curran; Brian T. Knox; James P. Schmiedeler; David E. Orin A series-elastic actuator (SEA) can provide remarkable performance benefits in a robotic system, allowing the execution of highly dynamic manuevers, such as a jump. While SEAs have been used in numerous robotic systems, no...