Compliant mechanisms are popular to the applications of micro/nanoscale manipulations. This paper proposes a novel triaxial parallel-kinematic compliant manipulator inspired by the Tripteron mechanism. Compared to most conventional triaxial compliant...
This paper presents the design, construction, and implementation of a soft robotic system comprising a continuum manipulator arm equipped with a compliant gripper. Three main objectives were pursued: (1) developing a soft silicone gripper as an alter...
A novel topology optimization approach is proposed in this paper for the design of three rotational degree-of-freedom (DOF) spatially compliant mechanisms, combining the Jacobian isomorphic mapping matrix with the solid isotropic material with penali...
The contact force/torque between the end-effector of the space manipulator and the target spacecraft will reduce the efficiency and safety of the capture task. A capture strategy using PD-impedance combined control algorithm is proposed to achieve co...
Robot manipulation in a physically constrained environment requires compliant manipulation. Compliant manipulation is a manipulation skill to adjust hand motion based on the force imposed by the environment. Recently, reinforcement learning (RL) has...
In this paper, a new approach involving the use of a mobile manipulator to assist humans with mobility impairments to walk is proposed. First, in order to achieve flexible interaction between humans and mobile manipulators, we propose a variable admi...
Compliant mechanisms are widely used for instrumentation and measuring devices for their precision and high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating the inverse and direct kine...
This paper proposes a modular gripping mechanism for the manipulation of multiple objects. The proposed micro gripper combines traditional machining techniques with MEMS technologies to produce a modular mechanism consisting of a sturdy, compliant al...
Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the r...
This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) Cartesian base (XY–axes) that supports a 1-DOF compliant joint arm that integrates a gripper and an elastic linear force senso...
This paper deals with the mechatronic design of a novel self-sensing motor-to-joint transmission to be used for the actuation of robotic dexterous manipulators. Backdrivability, mechanical simplicity and efficient flexure joint structures are key con...
In this article, we aim to achieve manual guidance of a robot manipulator to perform tasks that require strict path following and would benefit from collaboration with a human to guide the motion. The robot can be used as a tool to increase the accur...
Micromanipulation is a hot topic due to its enabling role in various research fields. In order to perform a high precision operation at a small scale, compliant mechanisms have been proposed and applied for decades. In microscale manipulation, micro-...
Teleoperation enables robots to perform tasks in dangerous or hard-to-reach environments on behalf of humans, but most methods lack operator immersion and compliance during grasping. To significantly enhance the operator’s sense of immersion an...
This paper presents a novel parallel dual-stage compliant nanopositioning system (PDCNS), aimed at nanoscale positioning for microscale manipulation. In the developed PDCNS, the coarse stage actuated by the voice coil motor and the fine stage driven...
Based on the constraint and position identification (CPI) approach for synthesizing XYZ compliant parallel mechanisms (CPMs) and configuration modifications, this paper proposes a new fully-symmetrical XYZ CPM with desired motion characteristics such...
Symmetry enables excellent motion performance of compliant mechanisms, such as minimized parasitic motion, reduced cross-axis coupling, mitigated buckling, and decreased thermal sensitivity. However, most existing symmetric compliant mechanisms are h...
This paper addresses the problems of valve-turning operation in rescue environments where a wheeled mobile manipulator (WMM) is employed, including the possible occurrence of large internal forces. Rather than attempting to obtain the exact position...
The development of handling technology for microscopic biological samples such as cells and spheroids has been required for the advancement of regenerative medicine and tissue engineering. In this study, we developed micro-tweezers with a compliant m...
This study presents a topological design and modeling framework for 3D-printed robotic grippers, tailored for combined precision and coarse robotics assembly. The proposed methodology leverages topology optimization to develop multi-scale-compliant m...
We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatil...
Composite structures in aeroplanes are often thin-walled and lightweight, resulting in significant compliance, which presents a handling and assembly challenge due to the associated part deformations. In order to counteract these deformations, the pa...
The application of citrus-picking robotic hands in orchard environments is constrained by the diversity in fruit size and shape, as well as the need to control fruit damage during harvesting. To address this issue, this study proposes a passively com...
Compliance in robotic systems has been exploited to allow rigid mechanisms to come into contact with complex and possibly fragile objects. By incorporating compliance and instrumentation into a single device nearby objects can be detected before dire...
The success of space missions like capture-and-deorbit or capture-and-service relies on the ability of the capturing satellite to establish a stable mechanical connection by its gripping tool with the object being intercepted. Most of the potential o...
Aerial manipulators expand the application scenarios of manipulators into the air. To complete various operations, the contact force between the aerial manipulator and the target must be precisely controlled. In this study, we first established the m...
Micro-electro-mechanical-systems (MEMS) extensively employed planar mechanisms with elastic curved beams. However, using a curved circular beam as a flexure hinge, in most cases, needs a more sophisticated kinetostatic model than the conventional pla...
Transfer printing technology has developed rapidly in the last decades, offering a potential demand for 2-DOF rotation stages. In order to remove decoupling modeling, improve motion accuracy, and simplify the control method, the 2-DOF decoupled rotat...
The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we stud...
This paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators. Each soft manipulator is composed of three soft modules, and each module includes...
This research explores a new realm of soft robotic materials where the stiffness magnitude, directionality, and spatial resolution may be precisely controlled. These materials mimic biological systems where localized muscle contractions and adjustmen...
Since robotic arms operating close to people are becoming increasingly common, there is a need to better understand how they can be made safe when unintended contact occurs, while still providing the required performance. Several actuators and method...
With increasing demand for high-precision motion control systems, high operational speed and load capacity are imposed with piezoelectric stick-slip actuators based on compliant mechanisms, yet their performances are often constrained by the step siz...
Enhancing the path planning capabilities of ships is crucial for ensuring navigation safety, saving time, and reducing energy consumption in complex maritime environments. Traditional methods, reliant on static algorithms and singular models, are fre...
With advancements in small-scale research fields, precision manipulation has become crucial for interacting with small objects. As research progresses, the demand for higher precision in manipulation has led to the emergence of ultrahigh-precision en...
Compliant mechanisms are widely used in cutting-edge scientific and technological fields such as precision engineering, micro-/nano-manipulation, or microelectronics. Hence, the demand for multi-degree-of-freedom compliant mechanisms has increased sh...
This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the arms grabbed to a fixed point (grabbing arm) while the other conducts the task (operation arm). The goal was to evaluate the pos...
Compliant force control is a fundamental capability for enabling robots to interact safely and effectively with dynamic and uncertain environments. This paper presents a comprehensive survey of compliant force control strategies, intending to enhance...
Marine-vehicle manipulators, which represent a kind of mechanical systems installed on marine surface or underwater vehicles, are mostly suffering from the problem of waves (or ocean currents)-caused base oscillations. The oscillations have a signifi...
In a micro-manipulation system, the compliant gripper is used for gripping, handling and assembling of objects. Large displacement and anti-buckling characteristics are desired in the design of the gripper. In this paper, a compliant gripper with the...
Developing a human bionic manipulator to achieve certain humanoid behavioral skills is a rising problem. Enabling robots to operate the steering wheel to drive the vehicle is a challenging task. To address the problem, this work designs a novel 7-DOF...
Soft continuum robots are constructed from soft and compliant materials and can provide high flexibility and adaptability to various applications. They have theoretically infinite degrees of freedom (DOFs) and can generate highly nonlinear behaviors,...
This paper presents and investigates a new three-rotation (3R) parallel compliant mechanism that uses compliant rods to achieve three rotations. The mechanism is designed for use in pointing devices or as a spatial parallel manipulator. The mobility...
A scheme for modelling and controlling a two-dimensional positioning system with a topology-optimized compliant mechanism is presented. The system is designed to ensure a relatively large workspace and exhibit robustness against system nonlinearities...
In this paper, a modified U-shaped micro-actuator with a compliant mechanism is proposed. It was analyzed with a uniform and modified thin arm, as well as a similar variation in the corresponding flexure, in order to observe the impact of the complia...
Precise control of the manipulating force within an appropriate range is crucial to prevent potential damage to the operating object. However, achieving accurate force control through force feedback is challenging in micro-scale applications. This st...
Actively transitioning between clamping and grasping is a challenging problem for most manipulators with limited degrees of freedom. To overcome this problem, a cable-driven rigid–flexible combined manipulator capable of actively transitioning...
Wire-driven continuum manipulators are gaining more attention due to their flexibility and dexterity features. In comparison with traditional manipulators, the continuum structure is compliant and safe for human tissue and is able to easily adapt to...
The geometrical constraints and dimensional tolerances lead to specific design issues of MEMS manipulators for biological applications. The target properties become even more important in the case of in vitro manipulation of cells. Several design sol...
With the superior ductility and flexibility brought by compliant bodies, soft manipulators provide a nondestructive manner to grasp delicate objects, which has been developing gradually as a rising focus of soft robots. However, the unexpected phenom...
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