The stiffness analysis of tendon-driven continuum robots is highly demanded in human-robot interaction applications. Although pretension is a common approach to enhance the stiffness of these robots with tendon-displa...
The stiffness analysis of tendon-driven continuum robots is highly demanded in human-robot interaction applications. Although pretension is a common approach to enhance the stiffness of these robots with tendon-displacement-controlled strategies, investigating and analyzing the relationship between stiffness and pretension is challenging. To address this, we proposed a novel Cosserat rod-based model for tendon-driven continuum robots, which takes into account both tendon displacement and tendon elasticity constraints. Through simulation tests, we established the relationship between stiffness analysis and the pretension effect based on the proposed methods.
The limited workspace and complex singularity issues are predominant factors impeding the clinical applicability of fracture reduction parallel robots. To address these challenges, this paper proposes a novel redundan...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
The limited workspace and complex singularity issues are predominant factors impeding the clinical applicability of fracture reduction parallel robots. To address these challenges, this paper proposes a novel redundant parallel mechanism (NRPM) for robotic-assisted fracture reduction with an enlarged workspace and enhanced dexterity capabilities based on the traditional Stewart parallel mechanism (SPM). With six redundant degrees-of-freedom (DOFs) added to the novel mechanism, the kinematics of NRPM needs to be thoroughly analyzed. Furthermore, the calculation of its workspace and determination of its dexterity are deduced. Both the analytical simulation and real experiment results demonstrated the effectiveness and superior performance of the proposed NRPM compared to SPM.
Simultaneous assembly of multiple objects is a key technology to form solid connections among objects to get compact structures in precision assembly and micro-assembly. Dramatically different from traditional assembl...
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Simultaneous assembly of multiple objects is a key technology to form solid connections among objects to get compact structures in precision assembly and micro-assembly. Dramatically different from traditional assembly of two objects, the interaction among multiple objects is more complicated on analysis and control. During simultaneous assembly of multiple objects, there are multiple mutually effected contact surfaces, and multiple force sensors are needed to perceive the interaction status. In this paper, a coordinated micro-robot manipulation strategy is proposed for simultaneous assembly problem, which is based on microscopic vision and force information. Taking simultaneous assembly of three objects as an instance, the proposed method is well articulated, including calibration of assembly system, force analysis for each contacting surface, and insertion control strategy for assembly process. The proposed method is applicable also to case with more objects. Experiment results demonstrate effectiveness of the proposed method.
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