Adaptive Robotic Mechanical Systems: A Design Paradigm

[+] Author and Article Information
Clément M. Gosselin

Département de génie mécanique,  Université Laval, Québec, Qc G1K 7P4, Canadagosselin@gmc.ulaval.ca

This reference is one of the rare publication in which the term “Mechanically intelligent” is explicitly used.

J. Mech. Des 128(1), 192-198 (Aug 19, 2005) (7 pages) doi:10.1115/1.2120781 History: Received May 02, 2005; Revised August 19, 2005

This paper aims at developing a general framework for the use of the concept of adaptive mechanical system in the design of advanced robotic devices. The concept of adaptive mechanical system is first formalized. A design methodology is then proposed in order to formulate the associated design paradigm, based on the fundamental principles of mechanics. Finally, examples of adaptive robotic mechanical systems taken from the literature are presented in order to illustrate the application of the general design methodology.

Copyright © 2006 by American Society of Mechanical Engineers
Topics: Design , Robotics , Mechanisms
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Figure 1

Variable speed mechanism (1935) used in analog mechanical computers (from (2))

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Figure 2

Closing sequence of an underactuated two-dof finger

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Figure 3

Examples of grasps performed with the MARS hand: (a) Person, (b) golf ball, (c) volleyball (d) flask, and (e) chair

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Figure 4

Simple one-degree-of-freedom statically balanced system

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Figure 5

Prototype of a gravity-compensated 6-dof parallel mechanism

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Figure 6

Prototype of a reactionless planar 3-DOF parallel mechanism

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Figure 7

The Cornell biped (courtesy of S. Collins and A. Ruina)



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