This paper provides numerical and experimental investigations of a ring-shaped piezoelectric 5-DOF robot that performs planar and angular motions of spherical payload. The robot consists of a piezoelectric ring glued on a special stainless-steel ring...
Variable-DOF (or kinematotropic) mechanisms are a class of reconfigurable mechanisms that have varying degrees of freedom (DOF) in different motion modes and can be reconfigured without disassembly. However, the number of proposed variable-DOF multi-...
A novel method for simultaneously directly measuring six-degrees-of-freedom (6DOF) geometric motion errors of CNC machine tools was proposed, and a corresponding measurement system was developed. This method can not only be applied for measuring a li...
During the on-orbit operation task of the space manipulator, some specific scenarios require strict constraints on both the position and orientation of the end-effector, such as refueling and auxiliary docking. To this end, a novel motion planning ap...
Based on the prior work on the six degrees of freedom (6DOF) motion errors measurement system for linear axes, and for the different types of machine tools and different installation methods, this study used a ray tracing idea to establish the measur...
The echo of shipborne high-frequency surface wave radar (HFSWR) is modulated by six-degrees-of-freedom (6-DOF) motion, affecting the detection of the target and the remote sensing of ocean surface dynamics parameters. Commonly, motion compensation me...
The article proposes an approach for synthesizing hybrid (parallel-serial) manipulators with five degrees of freedom (5-DOF) using open kinematic chains. The method idea consists in taking an open kinematic chain, selecting a subchain within it, and...
This paper introduces a novel dexterous 3-DOF parallel wrist-gripper assembly with a large singularity-free range of motion. It consists of a zero-torsion 2-DOF parallel wrist and a 1-DOF parallel gripper. The wrist produces a 2-DOF sphere-on-sphere...
The shipborne high-frequency surface wave radar (HFSWR) platform produces six degrees of freedom (DOF) motion at sea, which affects the performance of radar target detection and remote sensing of ocean surface dynamics parameters. Motion compensation...
The paper represents numerical and experimental investigations on a 5-DOF piezoelectric robot that can provide rotary and planar motions of the payload. The design of the robot is based on a single piezoelectric ring and a triangular-shaped passive l...
This paper presents a novel six degrees-of-freedom (DOF) compliant parallel mechanism (CPM) with decoupled output motions, large workspace of ≥6 mm for translations and ≥12° for rotations, optimized stiffness, and dynamic properties. The wo...
The paper presents a numerical and experimental investigation of a novel two degrees of freedom (2-DOF) piezoelectric actuator that can generate rotary motion of the sphere-shaped rotor as well as induce planar motion of the flat stage. The actuator...
The effect of waves on ice sheet is critical in the marginal ice zone (MIZ). Waves break large sea ice into small pieces and cause them to collide with each other. Simultaneously, the interaction between sea ice and waves attenuates these waves. In t...
The construction of a six-degree-of-freedom (6-DOF) model for the composite motion of the actual mechanical structure (defined as an all-true composite motion model) of unmanned aerial vehicles (UAVs) is a prerequisite for achieving stable control of...
Pitch Control plays a significant role for a large wind turbine. This study investigates a novel robust hydraulic pitch control system of a large wind turbine. The novel hydraulic pitch control system is driven by a novel high efficiency and high res...
This review article presents various multi-DOF application systems that utilize smart magnetorheological (MR) fluid. It is well known that MR fluid has been actively studied and applied in many practical systems such as vehicle suspension dampers. Th...
The study investigates the impact of motions of floating offshore wind turbine platforms on wake evolution and overall wind farm performance, employing large-eddy simulation (LES) and dynamic wake modeling method. First, the differences between wakes...
Six-axis motion platforms have a low contraction height and a high degree of freedom. First of all, the designed six-axis crank arm platform, including the motor, reducer, crank arm, link, platform support arm, and upper and lower platforms, can be d...
The application of robots to replace manual work in live-line working scenes can effectively guarantee the safety of personnel. To improve the operation efficiency and reduce the difficulties in operating a live-line working robot, this paper propose...
The application of space robotic manipulators and heightened autonomy for In-Orbit Servicing (IOS) represents a paramount pursuit for leading space agencies, given the substantial threat posed by space debris to operational satellites and forthcoming...
To validate the accuracy and reliability of onboard sensors for object detection and localization for driver assistance, as well as autonomous driving applications under realistic conditions (indoors and outdoors), a novel tracking system is presente...
It is essential to ensure stability during marine transportation or the installation of high center of gravity loads. The heavy loads increase gravity disturbance, affecting the steady-state-error control of the multiple degrees of freedom (DOFs) mot...
This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The hybrid structure of the manipulator combines a tripod-like parallel part and a serial part, represented as two carriages...
Six degree-of-freedom (6-DOF) robotic manipulators have been increasingly adopted in various applications in industries due to various advantages, such as large operation space, more degrees of freedom, low cost, easy placement, and convenient progra...
Hallux valgus (HV) is described as a lateral deviation of the great toe at the first metatarsophalangeal joint (MTP), which is a very common foot deformity in the clinic. This deformity extends beyond localized foot mechanics to affect the entire low...
This paper presents numerical and experimental investigations of a small size piezoelectric locomotion platform that provides unlimited planar motion. The platform consists of three piezoelectric bimorph plates attached to the equilateral triangle-sh...
A motion-cueing algorithm is a motion simulation system that makes the pilot feel the flight motion by calculating the attitude of the platform. This paper presents the design a kinematics model and two motion-cueing algorithms for a multi-axis motio...
A two-degrees-of-freedom (2-DOF) linear piezoelectric impact drive mechanism (PIDM) is actuated by two independent piezoelectric actuators (PAs). The coupled motion interactions of a two orthogonal DOF linear PIDM with a single friction interface are...
To investigate the characteristics of sea clutter, based on ocean surface electromagnetic scattering theory, the first- and second-order ocean surface scattering cross sections for bistatic high-frequency (HF) radar incorporating a multi-frequency si...
In this paper, we investigate a motion-tracking system for robotic computer-assisted implant surgery. Failure of the accurate implant positioning may result in significant problems, thus an accurate real-time motion-tracking system is crucial for avo...
Human motion analysis using inertial measurement units (IMUs) has recently been shown to provide accuracy similar to the gold standard, optical motion capture, but at lower costs and while being less restrictive and time-consuming. However, IMU-based...
In order to verify the reliability of drive components for industrial robots, component-level life tests must be accompanied by a system-level life test using actual robots in which predefined robot motions are repeated throughout the test. To proper...
To improve high motion accuracy and efficiency in the high-speed operation of a 4-DOF (4 degrees of freedom) redundant parallel robot, this paper introduces a trajectory planning of the parallel robot in joint space based on the twelve-phase sine jer...
This paper presents a design of a 3DOF XYZ bi-directional motion platform based on Z-shaped flexure hinges. In the presented platform, bridge-type mechanisms and Z-shaped flexure hinges are adopted to amplify its output displacement. Bi-direction mot...
In consideration of accidental contact-loss due to step-change or accidentally moving out of a constrained framework, this paper focuses on solving this problem during working processes of an n-degree-of-freedom hydraulic manipulator (n-DOF manipulat...
To extend the choice of inertial motion-tracking systems freely available to researchers and educators, this paper presents an alternative open-source design of a wearable 7-DOF wireless human arm motion-tracking system. Unlike traditional inertial m...
With the continuous increase in ship size combined with the generally slower increase in the sizes of waterways, the need for the prediction of ship maneuvering in shallow waterways continues to attract attention from the international scientific com...
This paper presents a velocity-level approach to optimizing the parasitic motion of 3-degrees of freedom (DoFs) parallel manipulators. To achieve this objective, we first systematically derive an analytical velocity-level parasitic motion equation as...
The precision spindle is a core component of high-precision machine tools, and the accurate measurement of its error motions is important for improving its rotation accuracy as well as the work performance of the machine. This paper presents a T-type...
In recent years, the increasing construction of high-rise buildings has led to the widespread use of glass curtain walls. Regular cleaning is essential to maintain their aesthetic appeal and functionality. However, manual cleaning methods pose signif...
Accurate prediction of ship motion is essential for ensuring the safety and efficiency of maritime operations. However, the ship dynamics’ nonlinear, non-stationary, and environment-dependent nature presents significant challenges for reliable...
In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree of freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering the potential human robot accide...
This paper presents the development of a 32-degree-of-freedom (DoF) humanoid robotic system designed for autonomous piano performance. The system integrates a vision-based music sheet reader with a YOLOv8 neural network for real-time detection and cl...
The emergence of surgical robots has revolutionized complex operations, improving precision, lowering operating risks, and shortening recovery periods. Given the merits, an eight degrees of freedom (DOF) hybrid surgical robot (HSR) has been proposed,...
The paper works on the new combination between the No Motion No Integration filter (NMNI) and the Kalman Filter (KF) to optimize the conducted vibration for orientation angles during drone operation. The drone’s roll, pitch, and yaw with just a...
Upper limb dysfunctions (ULD) are common following a stroke. Annually, more than 15 million people suffer a stroke worldwide. We have developed a 7 degrees of freedom (DoF) exoskeleton robot named the smart robotic exoskeleton (SREx) to provide upper...
In this work, a helical ionic polymer metal composite (IPMC) was fabricated by thermal treatment in a mold with helix grooves. The axial actuation behaviors of the helical IPMC actuator were observed, and the electromechanical and electrochemical cha...
In order to quantitatively analyze the data measurement accuracy of ocean buoys under normal and extreme sea conditions, in this study, we simulated the six-degree-of-freedom motion response of self-designed ocean buoys under different sea conditions...
Magnetic levitation technology shows promise for realizing multiple degrees of free precision motion for modern manufacturing, as the bearing and guiding parts are not used. However, motion decoupling in a magnetically levitated (maglev) system is di...
An airship is a lighter-than-air vehicle that offers static lift without consuming much power. This property makes it a potential candidate for many commercial applications. The target applications include rescue operations, surveillance, communicati...
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