Special Issue "Mechanism Design for Robotics"

A special issue of Robotics (ISSN 2218-6581).

Deadline for manuscript submissions: 20 January 2019

Special Issue Editors

Guest Editor
Prof. Dr. Marco Ceccarelli

1. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, China
2. Laboratory of Robotics and Mechatronics, University of Cassino, Via Di Biasio 43, 03043 Cassino, Italy
Website | E-Mail
Fax: +39 0776 2993989
Interests: mechanism design for robots; grippers and hands; legged walking machines; manipulators; experimental mechanics; machine simulation; history of mechanisms and machines
Guest Editor
Prof. Dr. Alessandro Gasparetto

Università degli Studi di Udine, Polytechnic Department of Engineering and Architecture, Via delle Scienze 206, 33100 Udine, Italy
Website | E-Mail
Interests: mechanism design for robots; modelling and control of mechatronic systems; trajectory planning in robotics; history of mechanisms and machines

Special Issue Information

Dear Colleagues,

Robotics is developing at a much faster pace than ever in the past. In a few years, the scenario will be totally different, both inside and outside of the industrial environment. In order to keep up with this quick evolution, research fields connected with mechanism design and, more generally, to the mechanical modelling of robots and of mechatronics systems, should evolve rapidly.

This Special Issue aims at exhibiting the latest research achievements, findings, and ideas in the areas of “Mechanism Design for Robotics”. The issue will contain revised and substantially extended versions of selected papers that were presented at the 4th IFToMM Symposium on Mechanism Design for Robotics (MEDER 2018), but we also strongly encourage researchers unable to participate in the conference to submit articles for this call.

Papers are welcomed on topics that are related to mechanisms within the aspects of theory, design, practice, and applications for robotics, including, but not limited to:

  • theoretical and computational kinematics
  • mechanism design
  • experimental mechanics
  • mechanics of robots
  • dynamics of machinery and multi-body systems
  • control issues of mechanical systems
  • innovative mechanisms and applications
  • linkages and manipulators
  • micro-mechanisms
  • machine intelligence
  • mechanism education and history of MMS

Prof. Dr. Marco Ceccarelli
Prof. Dr. Alessandro Gasparetto
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All papers will be peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Robotics is an international peer-reviewed open access quarterly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 350 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Published Papers (3 papers)

View options order results:
result details:
Displaying articles 1-3
Export citation of selected articles as:

Research

Open AccessArticle Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
Received: 1 November 2018 / Revised: 27 November 2018 / Accepted: 2 December 2018 / Published: 4 December 2018
PDF Full-text (5553 KB) | HTML Full-text | XML Full-text
Abstract
In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of its main parts—legs, torso,
[...] Read more.
In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of its main parts—legs, torso, arms—and then compared to its previous version, which was characterized by a different leg mechanism, to highlight the advantages of the latest design. A prototype was then presented, with constructive details of its subsystems and its technical specifications. To characterize the performance of the proposed robot, experimental results were presented for both the walking and weight-lifting operations. Full article
(This article belongs to the Special Issue Mechanism Design for Robotics)
Figures

Figure 1

Open AccessArticle Locomotion of a Cylindrical Rolling Robot with a Shape Changing Outer Surface
Received: 27 July 2018 / Revised: 28 August 2018 / Accepted: 30 August 2018 / Published: 10 September 2018
PDF Full-text (2198 KB) | HTML Full-text | XML Full-text
Abstract
A cylindrical rolling robot is developed that generates roll torque by changing the shape of its flexible, elliptical outer surface whenever one of four elliptical axes rotates past an inclination called trigger angle. The robot is equipped with a sensing/control system by which
[...] Read more.
A cylindrical rolling robot is developed that generates roll torque by changing the shape of its flexible, elliptical outer surface whenever one of four elliptical axes rotates past an inclination called trigger angle. The robot is equipped with a sensing/control system by which it measures angular position and angular velocity, and computes error with respect to a desired step angular velocity profile. When shape change is triggered, the newly assumed shape of the outer surface is determined according to the computed error. A series of trial rolls is conducted using various trigger angles, and energy consumed by the actuation motor per unit roll distance is measured. Results show that, for each of three desired velocity profiles investigated, there exists a range of trigger angles that results in relatively low energy consumption per unit roll distance, and when the robot operates within this optimal trigger angle range, it undergoes minimal actuation burdening and inadvertent braking, both of which are inherent to the mechanics of rolling robots that use shape change to generate roll torque. A mathematical model of motion is developed and applied in a simulation program that can be used to predict and further understand behavior of the robot. Full article
(This article belongs to the Special Issue Mechanism Design for Robotics)
Figures

Figure 1

Open AccessArticle Stability and Gait Planning of 3-UPU Hexapod Walking Robot
Received: 26 July 2018 / Revised: 17 August 2018 / Accepted: 29 August 2018 / Published: 31 August 2018
PDF Full-text (4066 KB) | HTML Full-text | XML Full-text
Abstract
The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the
[...] Read more.
The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains. Full article
(This article belongs to the Special Issue Mechanism Design for Robotics)
Figures

Figure 1

Back to Top