...-based mechanism (Oriceps) and is verified with experimental data from magnetic actuation of the mechanism. 1 Corresponding author. Portions of this work were presented at IDETC 2015 as paper number 47708. Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J...

... , Barcelona, Spain , pp. 26 – 37 . [9] Seok , S. , Onal , C. D. , Wood , R. , Rus , D. , and Kim , S. , 2010 , “ Peristaltic Locomotion With Antagonistic Actuators in Soft Robotics ,” IEEE International Conference on Robotics and Automation , Anchorage, AK, May 3–7, pp. 1228...

... , A. , Sunspiral , V. , and Jung, E. , 2017 , “ Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control ,” ASME J. Mech. Rob. , 9 ( 2 ), p. 025001 . 10.1115/1.4036014 [16] Mirletz , B. T. , Park , I.-W. , Flemons , T. E. , Agogino , A. K. , Quinn , R. D...

... 2017 10 04 2018 Actuators Dynamics Parallel platforms Transmissions High-speed parallel robots with three translations and one rotation are now widely utilized in pick-and-place applications such as packaging, assembling, and material handling [ 1 – 4 ], due to the advantages...

... matrix reduces the sum of square power (SSP) exerted by the actuators by up to 47%, the peak power requirement by almost 40%, the sum of squared current by 55%, and the peak current by 55%. These results were generated using a planar robot limb and a gait trajectory borrowed from biology. We use a fully...

...Yevgeniy Yesilevskiy; Zhenyu Gan; C. David Remy In this paper, we examine the question of whether parallel elastic actuation or series elastic actuation is better suited for hopping robots. To this end, we compare and contrast the two actuation concepts in energy optimal hopping motions. To enable...

...Chawin Ophaswongse; Rosemarie C. Murray; Sunil K. Agrawal This paper proposes a novel method for analyzing linear series elastic actuators (SEAs) in a parallel-actuated Stewart platform, which has full six degrees-of-freedom (DOF) in position and orientation. SEAs can potentially provide a better...

...Florian Stuhlenmiller; Jochen Schuy; Philipp Beckerle This paper proposes a probabilistic approach for the design of elastic elements to be used in structure-controlled variable stiffness actuators (VSA) for robotic applications. Considering the natural dynamics of the elastic actuation system...

...Wei Li; Jorge Angeles The subject of this paper is twofold: the kinematics and the isotropic design of six degrees-of-freedom (DOF), three- C CC parallel-kinematics machines (PKMs). Upon proper embodiment and dimensioning, the PKMs discussed here, with all actuators mounted on the base, exhibit...

... ]. Actuators Mechanism design Mechanism synthesis Transmissions 02 09 2016 28 07 2017 Manuscript received September 2, 2016; final manuscript received July 28, 2017; published online September 18, 2017. Assoc. Editor: Andreas Mueller. The hysteresis in the system is caused...

...Elias Brassitos; Nader Jalili Space robots require compact joint drive systems (JDSs), typically comprising of actuator, transmission, joint elements that can deliver high torques through stiff mechanical ports. Today's conventional space drive systems are made from off-the-shelf actuators...

...Michael J. Martell; J. C. Díaz; Joshua A. Schultz This paper presents a framework based on multiport network theory for modeling underactuated grippers where the actuators produce finger motion by deforming an elastic transmission mechanism. If the transmission is synthesized from compliant...

...; final manuscript received May 7, 2017; published online August 8, 2017. Assoc. Editor: Marcia K. O'Malley. 20 12 2016 07 05 2017 Actuators Compliant mechanisms Mechanism design Robot design Wearable robots Multi-body dynamics Exoskelotons Transmissions The VariLeg...

... the singularity condition. This approach is also applicable to a large number of parallel robots whose six actuation wrench axes intersect pairwise, such as all three-limb parallel robots whose limbs include, each, a passive spherical joint. The workspace is analyzed via a geometric method, while the dexterity...

..., important considerations in the synthesis and design of the actuators remained to be addressed. These include design requirements such as aerodynamic behavior of the spinning flywheel, induced dynamics by the wearer's motion, and stresses in the inner components due to the generated gyroscopic moment...

...Anzhu Gao; Yun Zou; Zhidong Wang; Hao Liu Continuum robots present the great dexterity and compliance as dexterous manipulators to accomplish complex positioning tasks in confined anatomy during minimally invasive surgery. Tendon actuation is one of the most popular approaches, which is to insert...

.... Manuscript received June 6, 2016; final manuscript received April 18, 2017; published online June 14, 2017. Assoc. Editor: Yuefa Fang. 06 06 2016 18 04 2017 Actuators Parallel platforms Theoretical kinematics Transmissions It is crucial to finding suitable and effective...

...Dion Hicks; Taufiq Rahman; Nicholas Krouglicof Voice coil actuators (VCAs) are simple electro-mechanical devices, which are capable of generating linear motion in response to an electrical input. The generic cylindrical design of commercially available actuators imposes a large variety...

... developed since Brockett's original work on the subject. As far as the actuation is concerned, the embedded tendon and fluidic actuation are modeled within the same screw-based framework, and the screw-system to which they belong is shown. Furthermore, the active and passive motion subspaces are clearly...

...Marco Salerno; Amir Firouzeh; Jamie Paik Thin foldable origami mechanisms allow reconfiguration of complex structures with large volumetric change, versatility, and at low cost; however, there is rarely a systematic way to make them autonomously actuated due to the lack of low profile actuators...