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Keywords: robot dynamics
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2010, 132(6): 061005.
Published Online: May 25, 2010
... Contact in the Safety Space ,” IEEE International Workshop on Robot and Human Communication , pp. 59 – 64 . collision avoidance design elasticity human-robot interaction robot dynamics service robots springs (mechanical) nonlinear stiffness passive compliance physical human-robot...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2010, 132(4): 041008.
Published Online: April 20, 2010
.... 25 09 2009 27 02 2010 20 04 2010 20 04 2010 computer aided engineering control engineering computing humanoid robots iterative methods mechatronics optimisation robot dynamics topology The importance of computer aided engineering (CAE) in product development...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2009, 131(8): 081002.
Published Online: July 9, 2009
... are discussed in Sec. 2A . 26 06 2008 09 05 2009 09 07 2009 actuators control system synthesis optimisation robot dynamics robot kinematics In any mechanism, the amount of kinetic energy in the system is a very important quantity to analyze. Since the inertial torques...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2009, 131(5): 051003.
Published Online: April 3, 2009
... Manipulators ,” J. Rob. Syst. , 2 , pp. 113 – 124 . 0741-2223 Yoshikawa , T. , 2000 , “ Erratum to ‘Dynamic Manipulability of Robot Manipulators’ ,” J. Rob. Syst. , 17 ( 8 ), p. 449 . 0741-2223 fasteners finite element analysis micromechanics microrobots robot dynamics robot...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. December 2008, 130(12): 124501.
Published Online: October 8, 2008
... redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation. 12 06 2007 22 08 2008 08 10 2008 Jacobian matrices patient rehabilitation robot dynamics robot kinematics The use of robots...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2008, 130(7): 072302.
Published Online: May 20, 2008
... compounded locomotion and manipulation virtual prototype dynamic simulations end effectors mobile robots optimisation robot dynamics torque virtual prototyping 26 07 2007 25 01 2008 20 05 2008 From the bottom spring array force distribution (Fig. 15b ), the force...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2007, 129(12): 1285–1293.
Published Online: December 7, 2006
.... The cobotic architecture is shown to be more efficient at frequencies and power levels characteristic of voluntary human motions. gears power transmission (mechanical) robot dynamics In practice, the wheel and cylinder materials are not rigid bodies, and exhibit both elastic...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. August 2007, 129(8): 887–890.
Published Online: August 21, 2006
... condition at the ground contact points. The result is a description of how well each hexapod can accelerate its torso without causing slippage at the ground contact points. 16 02 2006 21 08 2006 legged locomotion robot dynamics design agility dynamic performance acceleration...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2007, 129(6): 595–601.
Published Online: June 13, 2006
... and translational modes are obtained. robot dynamics parallel mechanism parallel mechanism with multiple operation modes type synthesis screw theory This paper was presented at the ASME 2006 International Design Engineering Technical Conferences & Computers and Information in Engineering...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. April 2007, 129(4): 449–454.
Published Online: April 7, 2006
... reliability robot dynamics end effectors The focus of this study is the model-/simulation-based design of robotic systems while accounting for uncertainty in its modes of use. Oftentimes a general purpose robot is not used in the mode upon which the design was based. This is especially true...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2006, 128(5): 1113–1121.
Published Online: December 2, 2005
... , S. K. , and Albus , J. S. , 2005 , “ A Dual-Stage Planar Cable Robot: Dynamic Modeling and Design of A Robust Controller With Positive Inputs ,” J. Mech. Des. 1050-0472 10.1115/1.1899689 , 127 , pp. 612 – 620 . Fattah , A. , and Agrawal , S. K. , 2005 , “ On the Design...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. May 2006, 128(3): 649–653.
Published Online: July 21, 2005
... stable walking patterns, can be obtained. 28 05 2004 21 07 2005 legged locomotion robot dynamics stability The walking of bipeds is the result of one of the most complex motor coordination patterns among all robotic systems. Walking patterns ensure stability of biped during...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. November 2004, 126(6): 992–999.
Published Online: February 14, 2005
... robot dynamics optimisation robot kinematics prototypes design Parallel mechanisms are excellent candidates for advanced robotic applications. However, in applications such as space robotics or telescope mechanisms, dynamic balancing is required or at least highly desirable. A mechanism...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. September 2004, 126(5): 830–841.
Published Online: October 28, 2004
... . Manuscript received Aug. 2003; rev. Jan. 2004. Associate Editor: G. R. Pennock. 01 Aug 2003 01 Jan 2004 28 10 2004 robot dynamics virtual reality legged locomotion gait analysis modelling Development of walking legged robots constitutes a big challenge for the robotics...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. September 2005, 127(5): 901–909.
Published Online: October 13, 2004
... that the proposed WMR can negotiate uneven terrain without slipping. mobile robots robot dynamics mechanical contact axles wheels differential equations sensors 28 02 2004 13 10 2004 Mass of the platform ( and passive joint assemblies ) = m p = 10 kg...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. January 2004, 126(1): 156–168.
Published Online: March 11, 2004
... 2001. Associate Editor: H. M. Lankaroni 01 August 2001 11 03 2004 manipulator dynamics vibration control robot dynamics Parallel manipulators are known to be particularly suitable for high-speed applications, as they combine low inertia and high stiffness 1 2 3...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. March 2000, 122(1): 10–16.
Published Online: January 1, 2000
... 01 Jan 2000 industrial manipulators position control compliance control robot dynamics machine control Due to the limited precision of the position controlled robot manipulator systems, tasks requiring high precision such as electronic part assembly cannot be successfully...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. March 2000, 122(1): 43–51.
Published Online: January 1, 2000
... is statically stable for any configuration, i.e., zero actuator torques are required whenever the manipulator is at rest. Furthermore, only inertial forces and moments have to be sustained while the manipulator is moving. industrial manipulators mechanical variables control design engineering robot...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. March 2000, 122(1): 3–9.
Published Online: December 1, 1999
... by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received Jul. 1998; revised Dec. 1999. Associate Technical Editor: C. M. Gosselin. 01 Jul 1998 01 Dec 1999 industrial manipulators robot dynamics inverse problems classical mechanics matrix algebra...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. March 2001, 123(1): 68–73.
Published Online: November 1, 1999
... actuators frequency response position control robot dynamics Micro Electro-Mechanical Systems (MEMS) are evolving rapidly. However, MEMS actuators are low force devices because of their small sizes, thus limiting their applicability only as sensors. To produce practical actuators, a massively...