A new concept of modular kinematics to design ultra-high precision flexure-based robots
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This study provides a novel approach for designing a rotary hexapod with a single actuator and definable motion of a platform. Hexapod is a parallel structure mechanism with six legs and six degrees of freedom (DoF) of an end-effector. It is not an underac ...
Series elastic actuators (SEAs) and variable elastic actuators (VSAs) provide shock resistance, energy storage, and stable force control. However, they usually require extra springs, mechanical parts, and transmissions, increasing size, weight, number of m ...
Between 1671 and 1716, the German mathematician Gottfried Wilhelm Leibniz attempted to design a reckoning machine. Working closely with the Parisian clockmaker Monsieur Ollivier, Leibniz eventually failed at producing a working prototype. After the redisco ...
The development of miniaturized machines that can actively cross barriers, navigate through heterogeneous materials and access remote sites can revolutionize environmental inspection and targeted therapy. Seminal work demonstrated the feasibility of follow ...
Out of plane instability of reinforced concrete walls is a failure mechanism observed rather recently following the earthquakes in Chile (2010) and New Zealand (2011). Global out of plane instability is a phenomenon that may occur in thin walls, subjected ...
This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a ...
Sub-millimeter scale devices are developing rapidly taking smaller, smarter, and more precise forms. This is achieved thanks to advancements in micro-manufacturing tools and techniques. For micro-production, a miniaturization of the machinery is a prominen ...
Shape Memory Alloys (SMAs) are a type of smart materials that reacts mechanically to heat. Due to their complex behavior, they are often used in a simple geometry such as wires. This constrains the output displacement of the alloy to a simple linear contra ...
The development of robotic manipulators and hands that show dexterity, adaptability, and subtle behavior comparable to human hands is an unsolved research challenge. In this article, we considered the passive dynamics of mechanically complex systems, such ...
American Association for the Advancement of Science2018
Compliant mechanisms are of great interest in precision engineering. In this paper we propose a higher order continuation method to help their rigid-body kinematic design. The method helps to investigate the choice of a mechanism configuration through the ...