... The physical implementation of this VSA design consisted of the two VSA motors connected to cables, routed through the pulley-spring mechanism, and attached antagonistically to a single-joint robot finger. The test apparatus was scaled using a 50 mm length to substitute for the 1-unit reference length between...

...) response and improve resolution. The proposed analytical model is validated experimentally and computationally. This approach may be used to achieve finesse by accurate positioning with force control for industrial robots and elegant prostheses. References [1] Vanderborght , B. , Van Ham , R...

... as the adsorption mechanism for a miniature hexapod climbing robot. The effect of the air leak on the response time and the negative pressure will be investigated, and the optimization methods will be addressed. The National Nature Science Foundations of China (grant numbers 61273342 and 51475305...

... an indefinite length of wheels [ 24 ], analogous to what is now called “ripple carry.” Babbage's design is susceptible to force accumulation, whereas Pascal's is not. 1 Corresponding author. Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J OURNAL OF M ECHANISMS...

...Anthony DeMario; Jianguo Zhao Miniature robots have many applications ranging from military surveillance to search and rescue in disaster areas. Nevertheless, the fabrication of such robots has traditionally been labor-intensive and time-consuming. This paper proposes to directly leverage...

.... Manuscript received September 23, 2017; final manuscript received December 11, 2017; published online February 5, 2018. Assoc. Editor: Andreas Mueller. 23 09 2017 11 12 2017 Compliant mechanisms Manufacturing Mechanism synthesis Microscale mechanisms Robotics Mechanical...

... principles for a joint in series and for two sets of orthogonal joints. Our work can open up avenues to a new class of miniature robotic medical devices with hinge joints and a usable channel for drug delivery. To be able to fabricate a nonassembled stable hinge joint, which does not dislocate along...

...Kyle W. Eastwood; Peter Francis; Hamidreza Azimian; Arushri Swarup; Thomas Looi; James M. Drake; Hani E. Naguib This work presents a novel miniature contact-aided compliant joint mechanism that can be integrated into millimeter-sized manual or robotic surgical instruments. The design aims...

... received March 7, 2017; final manuscript received September 25, 2017; published online xx xx, xxxx. Assoc. Editor: Robert J. Wood. 07 03 2017 25 09 2017 Flying robots Mechanism design Microscale mechanisms Robot design Robotics Micro aerial vehicles (MAVs) with low power...

... Manuscript received April 10, 2017; final manuscript received September 14, 2017; published online October 9, 2017. Assoc. Editor: Larry L Howell. 10 04 2017 14 09 2017 Compliant mechanisms Grasping Microscale mechanisms Robotics Fixturing Microelectromechanical systems (MEMS...

... thin-film lead–zirconate–titanate (PZT) and high-aspect-ratio parylene-C polymer microactuation elements. The in-chip dynamics of the microrobots are measured when actuated with tethered electrical signal to characterize the resonant behavior of different parts of the robot and its piezoelectric...

... DETC 26th Biennial Mechanisms and Robotics Conference, Paper No. DETC2000/MECH-14144. Manuscript received October 16, 2016; final manuscript received January 16, 2017; published online March 22, 2017. Assoc. Editor: Larry L Howell. 16 10 2016 16 01 2017 Compliant...

... mechanisms Mechanism design Microscale mechanisms Robotics 10 10 2016 14 12 2016 Manuscript received October 10, 2016; final manuscript received December 14, 2016; published online March 9, 2017. Assoc. Editor: James Schmiedeler. 1 Corresponding author. Copyright © 2017...

...Venkat N. Krovi; James Schmiedeler; Su Haijun 18 02 2017 18 02 2017 Bio-inspired design Cable driven mechanisms Compliant mechanisms Flying robots Folding Microscale mechanisms Origami Robotics The Mechanisms and Robotics Conference has traditionally provided...

... ]. The increasing interest in the MIS for a variety of medical pathology diagnosis and treatment has facilitated the research of the MIS systems based on robotic technologies. Due to the marvelous behaviors similar to biological trunks, tentacles and snakes, etc., the continuum manipulator with hyper-redundant DOFs...

.... The assumptions and justifications behind them are detailed below: 1 Corresponding author. Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J OURNAL OF M ECHANISMS AND R OBOTICS . Manuscript received May 20, 2014; final manuscript received January 22, 2015...

...Federico Thomas This paper shows how the computation of the singularity locus of a 3R robot can be reduced to the analysis of the relative position of two coplanar ellipses. Since the relative position of two conics is a projective invariant and the basic projective geometric invariants...

... its structure between a self-propelled wheelchair and a walking guide meant for outpatient rehabilitation purpose. Dimensional synthesis Planar mechanisms Robotics In this section, we present a numerical example of the design of a multifunctional wheelchair to illustrate our design...

...) as illustrated by numerical examples of robotic wrist mechanisms. Vector θ · p is the p ×  1 vector (13) θ · p = ( θ · t | θ · c ) T Statement 3. For every cycle in the cycle basis, the sum of twists’ moments...

... ) Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . Manuscript received September 1, 2012; final manuscript received April 29, 2013; published online June 20, 2013. Assoc. Editor: J. M. Selig. 01 09 2012 29 04 2013...