...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...

... of the cables and struts are assumed to be linear. 02 08 2010 07 02 2011 11 04 2011 11 04 2011 cables (mechanical) elasticity structural engineering The word tensegrity was originally coined by Fuller ( 1 ) as a combination of the words tension and integrity following...

... of 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...

..., where feature points are restricted to certain lines. There are yet more possible applications of these ideas in artificial intelligence and assembly planning, see, for example, Ref. 2 . algebra elasticity manipulator kinematics shear modulus 04 03 2010 22 07 2010 30 09...

...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...

... of the n cables are the only working forces. Therefore, the virtual work of the system is 15 δ W = F z δ h − n τ δ L where δ h and δ L are virtual displacements and τ is the tension of each cable. The tension of the cables depends on the elasticity...

...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...

... valid TGs of the planar 4DOF RCMs with various basic links are derived from valid arrays and DTGs. Finally, some application examples are illustrated. 19 04 2009 03 02 2010 23 07 2010 23 07 2010 elasticity redundant manipulators redundant closed mechanism topological...

... 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...

... position control shear modulus parallel manipulators elasticity singularity dynamics force management trajectory planning Over the past decades, with the large development of parallel manipulators, more attention have been paid to their kinematic, kinetostatic, and dynamic properties...

.... , 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. , and Bicchi , A. , 2008 , “ Toward Soft Robots You Can Depend On ,” IEEE Rob...

... 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...

... 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...

...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...