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A parallel-legged insect-scale robot based on actuation-structure integrated origami mechanism. [PDF]
Microsyst NanoengZhu Q, Jiang T, Luo Z, Zhu Y, Huang G.
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High-Fidelity Modeling of Laser Levels via Pulse-Window Software Lock-In PSD Sensing. [PDF]
Sensors (Basel)Zhuang S +6 more
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A study of manipulator with passive revolute joint
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A Novel Pressure-Controlled Revolute Joint with Variable Stiffness
Soft Robotics, 2022The compliance and deformability of soft robotics allow human–machine interactions in a safe manner without the need of sophisticated control systems inherent in rigid-body robotic devices. However, these advantages introduce controllability and predictability challenges.
Arianna Menciassi +2 more
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Nonlinear contact and impact of revolute joints
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012The contact deformation model of revolute joint is established based on Hertz theory, and the simulation model is developed based on finite element method (FEM). The results obtained from two models are compared. The error of Hertz model is evaluated by comparison with corresponding FEM, which changes with the contact depth and the clearance of ...
Rongqiang Liu +3 more
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A study of manipulator with passive revolute joint
Artificial Life and Robotics, 2008In this article, equations of motion of a manipulator, whose mechanism has a passive revolute joint, are derived in consideration of the characteristics of driving source. Considering the fi nal condition of displacement and velocity of the passive joint, trajectories of velocity for energy saving are calculated by iterative dynamic programming.
Asaji Sato +3 more
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A tactile sensor system for revolute joints of manipulators
IEEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications, 2002Deals with a tactile sensor system for revolute joints of manipulators in order to detect contacts with obstacles. It has the ability to detect, in a sampling period, more than one location of contact switches which are turned ON even on a signal line.
Yoji Yamada +3 more
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A Novel Reconfigurable Revolute Joint with Adjustable Stiffness
2019 International Conference on Robotics and Automation (ICRA), 2019In this paper, a novel revolute joint of adjustable stiffness with reconfigurability (JASR) is presented. The JASR is designed with zero-length base link four-bar linkage, and allows adjusting its stiffness to achieve soft-and hard-spring behaviour. The new joint has a compact and light-weight structure and can be integrated in robot and transmissions ...
Zhongyi Li, Weihai Chen, Shaoping Bai
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On the positioning of revolute-joint robot manipulators
Journal of Robotic Systems, 2000Summary: We develop a new technique for obtaining the sets of joint-motor-displacements which correspond to a desired spatial pose at the end-effector of a revolute-joint manipulator. The properties of rotation are exploited, and a local coordinate notation is introduced to obtain the required solution. We obtain two simplified sets of linear equations
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Artificial joints: A biotechnological revolution
The Surgeon, 2005HISTORY Palaeontologists have demonstrated arthritic changes in skeletons thousands of years old. The diverse attempts at surgical reconstruction of destroyed joints bear testimony to the remarkable ingenuity of the surgeons of yesteryear, whose efforts were largely sabotaged by material incompatibility and mechanical failure.
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