... feedback was implemented in static mode, neglecting in the first time the weight of the system. The interface design parameters were then optimized to avoid singularities within the prescribed workspace, to minimize motor torques, and to reduce the size of the interface. These development stages led...

... 04 2024 19 04 2024 17 06 2024 Graphical Abstract Figure cable-driven parallel robots cable-driven mechanisms optimization mechanism synthesis and analysis parallel robots Natural Sciences and Engineering Research Council of Canada 10.13039/501100000038...

... Email: jz_shang_nudt@163.com Email: luozirong@nudt.edu.cn 29 09 2023 17 02 2024 20 02 2024 23 04 2024 Graphical Abstract Figure compound waves fluctuating flexible oscillating fin propulsive efficiency optimization kinematics dynamics and control...

... mechanisms while improving the translational and rotational workspace volume. In this paper, an optimal design methodology of parallel mechanisms for application to robot-assisted femur fracture surgery using a single-objective genetic algorithm is proposed. The genetic algorithm will use a single-objective...

...) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system...

... of the spatial 3 P RR PM is compared with that of a moving slider with one translational DOF. By evaluating the workspace and motion/force transmissibility, the kinematic performance of two PMs is presented using several local and global indices, followed by the dimensional optimization of link parameters. Based...

... transfer performance, and maximum acceleration performance of the mechanism are also analyzed. On this basis, the kinematic and dynamic performance evaluation indexes of the mechanism are studied. Finally, the workspace and acceleration performance of the mechanism are optimized based on the differential...

...; or storing energy and utilizing it for performing explosive tasks. The major challenge with variable stiffness actuators is to control their position and stiffness simultaneously to achieve optimal task performance. In this paper, we present an end-of-arm variable stiffness mechanism (VSM) for performing...

... on constrained optimization, this article presents the construction of generalized Miura-ori patterns that can approximate three-dimensional parametric surfaces of varying curvatures while preserving the inherent properties of the standard Miura-ori, including developability, flat foldability, and rigid...

...N. A. Stravopodis; V. C. Moulianitis This paper proposes a method for optimizing rectilinear tasks on a 3 degrees-of-freedom (DoF) modular serial metamorphic manipulator. The overall experimental process was designed in order for theoretical assumptions and previous experimental results, regarding...

... and increase the output power efficiency. Therefore, a novel method is proposed to optimize geometrical parameters of the mechanism. To describe the kinematic singularity in a better way, the improved force transmission indexes based on previous methods are proposed using the reciprocal product and mobility...

... four-bar crank-slider coupler cognates repetitive mechanisms mechanical function generators optimization mechanism design mechanism synthesis theoretical kinematics 21 04 2019 01 08 2019 01 08 2019 03 09 2019 Contributed by the Mechanisms and Robotics Committee...

... of this reconfigurable parameter is studied on two different aspects: the mechanism workspace and kinematic performances. Based on these kinematic data, the optimization of a mechanism is performed. The drill motion trajectories are used to evaluate the behavior of the optimized mechanism. It is finally compared...

... define compliance and reliance in the context of physical human–machine coordination (pHMC) to characterize human responses in a joint object transport task. We apply an optimization framework to explain human intention and behavior. The weighting factor in the optimization problem, lambda (λ...

... includes a complete planar four-bar displacement model to eliminate circuit defects. adjustable mechanism planar linkage 4-bar mechanism motion generation defect elimination optimization While the objective in motion generation is to calculate the mechanism dimensions required...

... ]. Previously, different properties of cable-driven mechanisms such as wrench closure and wrench feasible workspaces (WCW and WFW), arrangement and interference of cables were at the center of attention of many research initiatives. For instance, Fattah and Agrawal [ 8 ] proposed a method for the optimal design...

... March 12, 2014. Assoc. Editor: Kazem Kazerounian. 17 03 2012 11 09 2013 People often complete tasks using one hand for the task and one hand for support. These one-handed support tasks can be found in many different types of jobs, such as automotive assembly jobs. Optimization-based...

...] Shigley , J. E. , and Uicker , J. J. , 1995 , Theory of Machines and Mechanisms , McGraw Hill , New York . [3] Norton , R. L. , 2002 , Cam Design and Manufacturing Handbook , Industrial Press , New York . [4] Angeles , J. , and Lopez-Cajun , C. S. , 1991 , Optimization...

... performances. Therefore, this paper presents an optimization approach to synthesize and improve the dynamical performance of a reactionless three-degree-of-freedom planar mechanism. The three legs of this original mechanism are composed of reactionless four-bar mechanisms dynamically balanced with only one...

.... Using the characteristics of order, circuits, branches, and the geometric features of dead-center configurations for Stephenson-II function generators, the constraint equations for avoiding these defects are proposed for the optimal synthesis of Stephenson-II function generators. The synthesized...