Various actuator topologies are discussed for the purpose of powering periodic processes and particularly walking robots. The Clutched Parallel Elastic Actuator (CPEA) is proposed to reduce the energy consumption of active exoskeletons. A nonlinear m...
The majority of the commercial transtibial prostheses are purely passive devices. They store energy in an elastic element during the beginning of a step and release it at the end. A 75 kg human, however, produces on average 26 J of energy during one...
Stereo garage technology can effectively alleviate the problem of parking difficulties, but the safety problems of its actuators, via which the core of stereo parking function can be realized, seriously affect its promotion and further development. I...
Weight-bearing exoskeletons are robots that need to carry loads and interact with humans frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of outputting sufficient force with high compliance and little weight. A se...
Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The...
Wearable lumbar rehabilitation exoskeletons require body-size adaptability and deterministic kinematic modeling. Adjustable wearing structures may alter actuator anchor-point positions, creating inconsistencies in fixed-geometry inverse kinematic mod...
A vision-based three degree-of-freedom translational parallel manipulator (TPM) was developed. The developed TPM has the following characteristics. First, the TPM is driven by three rodless pneumatic actuators and is designed as a horizontal structur...
Achieving energy-efficient, human-like gait remains a major challenge in bipedal humanoid robotics, as traditional serial actuation architectures often lead to high instantaneous power peaks and uneven load distribution. This study addresses the lack...
The lower limb exoskeleton investigated in this work actively supports the knee and hip and is intended to provide full motion support during gait. Parallel elastic actuators are integrated into the hip joints to improve the energy efficiency in gait...
This paper presents the design and analysis of a novel 3-degree-of-freedom (3-DOF) parallel manipulator equipped with self-sensing Ni-Ti (Nitinol) actuators. The manipulator’s architecture and mechanical design are elucidated, emphasizing the i...
Cable-Driven Parallel Robots (CDPRs) use cables arranged in a parallel fashion to manipulate an end-effector (EE). They are functionally similar to several cranes that automatically collaborate in handling a shared payload. Thus, CDPRs share several...
Traditional 3-RRS and 3-RPS mechanisms adopt open-chain limbs, where R, P, and S denote revolute, prismatic, and spherical joints, respectively. Although these mechanisms are widely used, they suffer from insufficient stiffness and accuracy under hea...
In this paper, we experimentally evaluate the performance of a sensor concept for solving the direct kinematics problem of a general planar 3-RPR parallel mechanism by using solely the linear actuators’ orientations. At first, we review classic...
The workspace of the compliant parallel mechanism (CPM) is generally limited due to the small deformation range of flexible hinges, which are usually at the micro/nano scale. This paper takes the 2-DOFs n-4R compliant parallel pointing mechanism (n-4...
This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for dev...
This paper presents a novel redundant-actuated 4-PSS&S compliant parallel micro-rotation mechanism (P represents the actuated prismatic joint and S denotes the spherical pair) with three rotational degrees of freedom. First, compliance models of...
An autonomous excavator can be a good solution in the construction industry to deal with existing issues such as high labor costs and harsh and hazardous environmental conditions. To increase energy efficiency for autonomous excavators, this study pr...
In order to increase the driving force of the voice coil actuator while reducing its size and mass, the structural parameters of the coil and magnet in the actuator are optimized by combing Biot–Savart law with Lagrangian interpolation. A 30 mm...
Redundantly actuated parallel manipulators (PMs) have attracted a great deal of attention since they generally have better stiffness than non-redundantly actuated ones. This paper presents an analytical elastostatic stiffness modeling and performance...
A symmetric redundant-actuated 4-PSS compliant parallel micro-motion mechanism is proposed to meet the high requirements for stiffness and motion precision in micro-nano manipulation. First, the screw theory is employed to confirm that the mechanism...
This article introduces a novel modification of a Delta-type parallel robot. The robot has five degrees of freedom and provides its end-effector with a 3T2R motion pattern (three translational and two rotational degrees of freedom). The fifth degree...
This paper introduces a soft, cable-driven parallel robot for minimally invasive surgeries. The robot comprises a pneumatic inflatable scaffold, six hydraulic, folded pouch actuators, and a hollow, cylindrical end-effector offering five degrees of fr...
A novel linear piezo inertia actuator based on the transverse motion principle is proposed. Under the action of the transverse motion of two parallel leaf-springs, the designed piezo inertia actuator can achieve great stroke movements at a fairly hig...
A spatial redundantly actuated parallel mechanism (RAPM) constrained by two point contact higher kinematic pairs (HKPs) has been designed, arising from the inspiration of mastication in human beings: the end effector is the lower jaw, the six kinemat...
Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A co...
In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic model testing. This is done by partitioning the ocean structure under consideration into a numerical and a physical s...
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...
Several studies have shown that actuation concepts such as Serial elastic actuator (SEA) can reduce peak power and energy consumption in ankle prostheses. Proper selection and design of the actuation concepts is important to unlock the power source p...
In this paper, we investigate the accuracy and the computational efficiency of an IMU-based approach for solving the direct kinematics problem of parallel mechanisms with length-variable linear actuators under dynamic conditions. By avoiding to measu...
Kinematic modelling is essential for evaluating hybrid manipulators that require both stiffness and spatial adaptability. This paper proposes a modular 3-UPU (universal joint–prismatic joint–universal joint) hybrid serial–parallel m...
In this paper, the structural behavior of a micro-electromechanical system (MEMS) composed of two electrically coupled parallel clamped-clamped microbeams is investigated. An Euler Bernoulli beam model is considered along with the nonlinear electric...
While 3-D microelectromechanical systems (MEMS) allow switching between a large number of ports in optical telecommunication networks, the development of such systems often suffers from design, fabrication and packaging constraints due to the complex...
The aquatic unicellular organism Paramecium caudatum uses cilia to swim around its environment and to graze on food particles and bacteria. Paramecia use waves of ciliary beating for locomotion, intake of food particles and sensing. There is some evi...
The paper aims to present a mechatronic device able to micro-position the workpiece and to reject disturbances due to machining operation. A decoupling method is proposed for a parallel kinematic machine (PKM) fixturing platform composed by a 3-DoF f...
This paper deals with the mechanical design and kinematic analysis of an autonomous wrist for space assembly (AWSA) whose actuators are activated by DC motors and ball screw drives. This robotic wrist was developed and built as a prototype to investi...
Due to the various application scenarios of micro-positioning platforms, designing the structure of a micro-positioning platform that accommodates performance specifications for specific real-world applications presents significant challenges. Piezoe...
Accurate actuator-space tracking is an important engineering requirement for repeatable motion delivery by parallel rehabilitation mechanisms, but controller performance should also be assessed under configuration-dependent dynamics and modeling unce...
Parallel elastic actuation is a highly promising concept for assisting preplanned trajectories such as repetitive tasks in industrial machines and robots. Nevertheless, due to the persisting challenges on spring lifetime, its full potential has yet t...
This paper describes the design and analysis of a small-sized and high thrust electromagnetic actuator. The proposed actuator is supposed to be used for application control of the hotmelt adhesive. The hotmelt has different characteristics for each m...
This paper investigates the performance of a fuzzy optimal variance control technique for attitude stability and vibration attenuation with regard to a spacecraft made of a rigid platform and multiple flexible appendages that can be retargeted to the...
The Stewart–Gough Platform (SGP) is a spatial parallel manipulator offering high accuracy, rigidity, and adaptability, with applications spanning medical systems, marine engineering, agriculture, manufacturing, entertainment, aerospace, and arc...
Parallel Delta robots are widely used in high-speed industrial automation, particularly in food-processing operations that require short cycle times and precise manipulation. Their performance under complex loading conditions, however, remains critic...
This paper examines the dynamics and control of a variable blade pitch wind turbine during extreme gust wind and subject to actuators saturation. The mathematical model of the wind turbine is derived using the Lagrange dynamics. The controller is for...
Piezoelectric actuators (PEAs) and compliant parallel mechanisms (CPMs) are advantageous for designing nanopositioning stages (NPSs) with multiple degrees of freedom (multi-DOFs). This paper proposes a new NPS that uses PEAs and CPMs with multiple sp...
In this paper, we analyze stiffness and perform geometrical optimization of a parallel–serial manipulator with five degrees of freedom (5-DOF). The manipulator includes a 3-DOF redundantly actuated planar parallel mechanism, whose stiffness det...
Physical compliance has been increasingly used in robotic legs, due to its advantages in terms of the mechanical regulation of leg mechanics and energetics and the passive response to abrupt external disturbances during locomotion. This article prese...
The development of upper-limb prostheses is often hindered by limited dexterity, a restricted workspace, and bulky designs, primarily due to performance limitations in proximal joints like the shoulder and elbow, which contribute to high user abandon...
Disturbances from multiple sources propagate through coupled motor, hydraulic, and mechanical channels in electro-hydrostatic actuators, while increasing observer bandwidth introduces a trade-off with sensitivity to high-frequency components. To addr...
In this paper, a goniometer-type specimen stage with a linear actuation mechanism mounted on a rotation mechanism is introduced. The linear actuation mechanism was modeled as a spatial parallel manipulator consisting of a moving body, three linear ac...
Accurate kinematic calibration of subreflector actuators is essential for pointing precision of large radio telescopes, particularly at high frequencies. Conventional least-squares methods are vulnerable to noise and outliers, and their accuracy may...
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