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Keywords: robot dynamics
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Journal Articles
Article Type: Research Papers
J. Mech. Des. June 2010, 132(6): 061005.
Published Online: May 25, 2010
... collision avoidance design elasticity human-robot interaction robot dynamics service robots springs (mechanical) nonlinear stiffness passive compliance physical human-robot interaction safety mechanism In recent years, service robots have received considerable attention. Because...
Journal Articles
Article Type: Research Papers
J. Mech. Des. April 2010, 132(4): 041008.
Published Online: April 20, 2010
... Engineering , Wiley , New York . 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...
Journal Articles
Article Type: Research Papers
J. Mech. Des. August 2009, 131(8): 081002.
Published Online: July 9, 2009
... new approach to analyzing the dynamic character of serial chain mechanisms. 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...
Journal Articles
Article Type: Research Papers
J. Mech. Des. May 2009, 131(5): 051003.
Published Online: April 3, 2009
... finite element analysis micromechanics microrobots robot dynamics robot kinematics The increasing needs for better accuracy and high performances in manufacturing motivate researchers to develop new classes of parallel manipulators with reduced number of degrees of freedom. These manipulators...
Journal Articles
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
Article Type: Research Papers
J. Mech. Des. July 2008, 130(7): 072302.
Published Online: May 20, 2008
... Mobile Robots ,” M.S. thesis, Department of Mechanical and Industrial Engineering, University of Toronto, ON, Canada. 26 07 2007 25 01 2008 20 05 2008 end effectors mobile robots optimisation robot dynamics torque virtual prototyping mobile robot hybrid mechanism...
Journal Articles
Article Type: Research Papers
J. Mech. Des. December 2007, 129(12): 1285–1293.
Published Online: December 7, 2006
... the motor’s thermal limit. l ̇ desired and f desired are the desired maximum velocity and force specifications. 19 02 2006 07 12 2006 gears power transmission (mechanical) robot dynamics 1 Cobotic devices control the relative velocities...
Journal Articles
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
Article Type: Research Papers
J. Mech. Des. June 2007, 129(6): 595–601.
Published Online: June 13, 2006
... different types of motion, such as 3-DOF planar motion, 3-DOF translation, and 4-DOF SCARA motion. Each type of motion has a different motion pattern, which can be defined as a set of transformations among a continuous set of poses of the moving platform. 09 02 2006 13 06 2006 robot...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. April 2007, 129(4): 449–454.
Published Online: April 7, 2006
... and Multidisciplinary Optimization , Dalian, China, June 4–8. 16 09 2005 07 04 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...
Journal Articles
Article Type: Research Papers
J. Mech. Des. September 2006, 128(5): 1113–1121.
Published Online: December 2, 2005
... that the proposed control approach is effective for such a helicopter-robot system. helicopters vehicle dynamics robust control robot dynamics The transport of externally suspended loads is an important mission of a helicopter. Both military and commercial operators exploit this capability...
Journal Articles
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
Article Type: Technical Papers
J. Mech. Des. November 2004, 126(6): 992–999.
Published Online: February 14, 2005
... and the prototype is presented. 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...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. September 2004, 126(5): 830–841.
Published Online: October 28, 2004
... . Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN . 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...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. September 2005, 127(5): 901–909.
Published Online: October 13, 2004
... no-slip motion even when dynamic effects are taken into consideration. 28 02 2004 13 10 2004 mobile robots robot dynamics mechanical contact axles wheels differential equations sensors It is a well known fact that for wheeled mobile robots moving on uneven terrain...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. January 2004, 126(1): 156–168.
Published Online: March 11, 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 . However, while parallel manipulators generally have very high stiffness, vibrations can still occur...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. March 2000, 122(1): 10–16.
Published Online: January 1, 2000
... , Byung-Ju , and Freeman , R. A. , 1992 , “ Synthesis of Actively Adjustable Springs by Antagonistic Redundant Actuation ,” J. Dyn. Syst., Meas., Control , 114 , pp. 454 – 461 . industrial manipulators position control compliance control robot dynamics machine control Due...
Journal Articles
Article Type: Technical Papers
J. Mech. Des. March 2000, 122(1): 43–51.
Published Online: January 1, 2000
... mechanical variables control design engineering robot dynamics robot kinematics As mentioned above, the use of counterweights for the static balancing is generally more intuitive than the use of elastic elements. However, the introduction of additional masses in the system tends to increase...
Journal Articles
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
Article Type: Technical Papers
J. Mech. Des. March 2001, 123(1): 68–73.
Published Online: November 1, 1999
... bounds for load limits and frequency response for such systems have been determined. 01 Nov 1999 manipulator dynamics actuators frequency response position control robot dynamics Simulation Results with Mass = 15   kg , n = 12 , δ = 0.5   mm...