...Yangyang Huang; Jinzhu Zhang; Xiaoyan Xiong Kinematic estimations and dynamic performance assessments are fundamental theoretical issues to realize the mechanism from conceptual design to engineering application. In this article, the closed-form dynamic formulations of a 4-degrees-of-freedom (DoFs...

... (AESO)-based impedance control method is developed with actuator dynamics taken into account. The AESO can estimate and compensate for both the lumped disturbance, including the influences of moment-of-inertia variation and counter torque, and the unmeasurable states for the controller. In addition...

.... Through dynamic simulations and manipulability assessments, the importance of variable coupling inertia in creating a sufficient reaction torque is highlighted. It is shown that two-DoF tails with solely revolute joints are best suited to address the balance augmentation issue. Within the two-DoF options...

... obotics . 27 04 2023 17 07 2023 21 07 2023 16 08 2023 cyclic redundant manipulators manipulator differentiable manifold inverse manipulator kinematics kinematics dynamics and control of mechanical systems mechanisms and robots robot motion planning and control...

...) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system...

...Wei Zhu; Zhu Xu; Zhiyuan Ma; Huiping Shen Since previous studies of parallel mechanisms (PMs) have tended to favor symmetrical overall configuration to obtain relatively stable kinematic and dynamic performance and to satisfy isotropic requirements. The analysis of kinematic and dynamic performance...

... prosthesis. The inverse dynamical equation of the system will help to understand whether specific types of soft actuators can produce the required force to generate natural phonations. Hence, this is referred to as the active actuation model. We present the analysis to replicate the vowels /a/, /e/, /i...

... such as swing leg dynamics or kinematic and actuation limits. In this study, the formulation of capturability for whole-body humanoid robots is introduced as a partition-based approach in the augmented center-of-mass (COM)-state space. The 1-step capturable boundary is computed from an optimization-based method...

... parasitic motion, with the coupling degree k being equal to zero. Second, the kinematic and dynamic performances of the 3DOF 2T1R PM are analyzed, including symbolic forward position solutions based on its topological characteristics, the workspace based on both the forward and inverse position solutions...

...-static models are derived from the geometrico-static model and they allow to express the singularity conditions of the R- Min robot. An analysis of the singularity loci is carried out among the robot’s workspace. A controller based on the dynamic model is proposed and experimentally validated...

.... In this paper, a dynamics model of the elastic tendon-driven manipulator (ETDM) that considers motion coupling is established. A hierarchical sliding mode control (HSMC) method is proposed to realize the trajectory tracking control of the ETDM. On the basis of the Lyapunov design method, the actuator subsliding...

... for publication in the J ournal of M echanisms and R obotics . 03 07 2022 15 11 2022 18 11 2022 18 01 2023 dry friction inelastic collision numerical simulation contact compliant mechanisms dynamics mechanism design Narodowe Centrum Badan i Rozwoju 10.13039...

...Mingxiang Ling; Hao Zhou; Liguo Chen The kinetostatic and dynamic formulation of planar-compliant mechanisms is investigated by making use of the dynamic stiffness method based on Timoshenko beam theory. This research is prompted by the significance of considering both the shear deformation...

...Fanyi Guo; Zhili Sun; Shengnan Zhang; Runan Cao; Haiyang Li To rapidly analyze the dynamic characteristics of a compliant stroke amplification mechanism (CSAM) with completely distributed compliance, an analytical model based on the dynamic stiffness matrix with consideration of the damping effect...

... of the body is also considered in the center of mass (CoM) model. The terrain deformation is modeled using a spring-damper contact model, and based on the rigid body dynamics of the NIP, its motion is generated. The energy analysis of the system provides the regions of possible foot placement. Based...

... ournal of M echanisms and R obotics . 12 04 2022 04 10 2022 07 10 2022 25 11 2022 dynamics theoretical kinematics Cartesian stiffness and/or impedance control establishes a mass–damper–spring relationship between the end-effector and the reference frame [ 1 – 4...

...Jinlu Ni; Jiangping Mei; Yabin Ding; Dongxing Yu; Yunrui Duan; Yuxin Le By considering both motion smoothness and dynamic stress, a trajectory planning method for delta robots, with the goal of determining the two optimal normalized time factors that dominate the motion path in operation space...

... timesteps. The snake robot model built upon the gym environment can also serve as a benchmark for various DRL algorithms and allow people to customize the interaction with the environment. We prove that the DRL agent can dynamically adjust its torque output to each joint for better energy efficiency. While...

...Fabian A. Lara-Molina This paper presents a novel approach to obtain the dynamic model of flexible-link manipulators based on the stochastic finite element method. The links and elements of flexible manipulators are affected by uncertainties. The main sources of uncertainties include the variation...

... 2020 29 10 2020 09 08 2022 Compliant mechanisms dynamics legged robots The publication [ 1 ] makes unjustified claims, has many inconsistencies, numerous technical errors in the theoretical exposition, and omitted proofs. The stability claim of the COM dynamics is incomplete...