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 kinematics of 3-PRS parallel mechanisms (PMs), an important category of 2R1T PMs, is very important for the motion control and error compensation of PMs. In order to produce a spindle head that could meet the requirements of various machining acc...
A parallel continuum manipulator (PCM) is a mechanism of closed-loop morphology with flexible elements such that their deformation contributes to its mobility. Flexible hexapods are six-degrees-of-freedom (DoF) fully parallel continuum mechanisms alr...
This paper presents a three-degrees-of-freedom origami parallel robot that is free from parasitic motion. This robot is designed to achieve one translational and two rotational motions within its workspace, enabling precise orientation about a fixed...
In this study, a dual-mode reconfigurable parallel ankle joint rehabilitation mechanism is proposed to meet the needs of patients in different ankle rehabilitation stages. This mechanism can switch between the 1T2R (where R represents rotation and T...
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...
Lamina Emergent Torsional (LET) arrays can be used to replace creases in origami-based mechanisms. They can be made of planar materials, which makes them compatible with many designs. However, LET arrays can take up a lot of area and can exhibit sign...
In rigid lower-mobility parallel manipulators the motion of the end-effector is partially constrained due to a combination of passive kinematic pairs and rigid components. Translational mechanisms, such as the Delta manipulator, are the most common o...
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...
Flexure-based linear stages have become prevalent in precision engineering; however, most designs suffer from parasitic shifts that degrade positioning accuracy. Conventional solutions to mitigate these parasitic motions often compromise support stif...
The past decade has seen most antimalarial drugs lose their clinical potency stemming from parasite resistance. Despite immense efforts by researchers to mitigate this global scourge, a breakthrough is yet to be achieved, as most current malaria chem...
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 Polichete worms of the genus Polydora are considered very destructive for oysters, excavating channels in their shell and inducing oysters to create mud blisters in response to the irritation, interfering with their physiology and ethology. The p...
Stick-slip actuators have emerged as a promising solution for precision positioning, which can help attain a nanometer-scale resolution and large stroke size. This review summarizes recent advances in the design, modeling, and performance enhancement...
The optimization of the micro-motion rotary mechanism aims to obtain the maximum rotation angle in a certain space and increase the compensation range of the micro-motion mechanism. Aiming to address the disadvantages of a small movement stroke, low...
Leishmania are an understudied genus of parasitic protozoans causing significant health problems for people, particularly in tropical climates. To better understand the growth of Leishmania and potential drug sensitivity implications, the effects of...
Achieving high-precision positioning operations in a small space was of great significance in aerospace, biomedical, and other fields. In order to obtain smaller displacements with higher accuracy, this paper focused on the design, optimization, and...
23 November 2022
Occupational exoskeletons are a promising solution to prevent work-related musculoskeletal disorders (WMSDs). However, there are no established systems that support heavy lifting to shoulder height. Thus, this work presents a model-based analysis of...
To enhance the precision, load capacity, disturbance rejection, and reliability of shipborne parallel stabilization platforms under complex sea conditions, this paper proposes a redundant, actuated, parasitic-motion-free 3-DOF 3RRS-RUS parallel stabi...
The effect of the lateral walls of a Lab-On-a-Disc device on the dynamics of a model system of particles with a density lower than that of the solvent (modelling parasites eggs) is analyzed theoretically and experimentally. In the absence of lateral...
Multiphase flows are a part of many industrial processes, where the bubble motion influences the hydrodynamic behavior of the batch. The current trend is to use numerical solvers that can simulate the movement and mutual interactions of bubbles. The...
This paper presents a new tendon-driven platform with spatial mobility. The system can be obtained as a monolithic structure, and its motion is based on the concept of selective compliance. The latter contributes also to optimizing the use of the mat...
Small-scale two-phase flows are subject to intense capillary accelerations that must be treated with care in order to avoid artifacts often associated with the numerical methodologies used, such as excessive fragmentation of structures. This analysis...
In space gravitational wave detection, various physical effects in the spacecraft, such as self-gravity, electricity, and magnetism, will introduce undesirable parasitic stiffness. The coupling noise between stiffness and the motion states of the tes...
A novel over-constrained XYθz nano-positioning stage with a high load-bearing capacity is proposed. This serially connected displacement stage adopts an embedded structural design that integrates a translation stage with a rotation stage in ser...
A new modulation scheme for frequency-modulated continuous-wave (FMCW) radars with millimeter-level target motion detection capability is presented. The proposed radar scheme is free from the synchronization constraint and exhibits low sensitivity to...
To address the trade-off between macroscopic stroke and high stiffness in XY precision positioning, this study proposes a platform utilizing a Connecting Arm and Guide Rail Integration decoupling mechanism. Distinct from traditional suspended-mover o...
Harvesting mechanical energy from human motion is an attractive approach for obtaining clean and sustainable electric energy to power wearable sensors, which are widely used for health monitoring, activity recognition, gait analysis and so on. This p...
This paper introduces the design of a fully-compliant Spherical Joint (SJ), obtained by the in-parallel connection of two identical open chains each composed of three equal circular flexible beams, having coincident centers of curvature and mutually...
Chagas disease, caused by Trypanosoma cruzi (T. cruzi), remains a significant public health challenge in Latin America. Traditional diagnostic methods relying on manual microscopy suffer from low sensitivity, subjective interpretation, and poor perfo...
Module-level free-space optical interconnects require actuators to combine both large stroke and high stability. To address this core trade-off that plagues traditional folded-beam actuators, we have developed a millimeter-scale MEMS electromagnetic...
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...
Cathepsin D (CatD; EC 3.4.23.5) family peptidases of parasitic organisms are regarded as potential drug targets as they play critical roles in the physiology and pathobiology of parasites. Previously, we characterized the biochemical features of cath...
Torque and angular velocity fluctuations during idle and low-speed operation decrease drivetrain efficiency, increase vibration, and impose irregular loading on coupled systems such as hybrid powertrain generators and conventional transmissions. Buil...
In this work, we consider the joint use of different passive sensors for the localization and tracking of human targets and small drones at short ranges, based on the parasitic exploitation of Wi-Fi signals. Two different sensors are considered in th...
Electromagnetic micro-electro-mechanical system (MEMS) micromirrors are widely used in optical scanning systems but often encounter mechanical crosstalk due to the use of shared drive coils. This phenomenon leads to parasitic motion along the slow ax...
This paper presents a flexure-based displacement reduction mechanism driven by a voice coil motor to improve the motion resolution and eliminate the hysteresis nonlinearity of the traditional piezo-actuated micropositioning/nanopositioning stages. Th...
Leishmaniasis is one of the biggest health problems in the world. Traditional therapeutic methods still depend on a small range of products, mostly chemically. However, the treatment with these drugs is expensive and can cause serious adverse effects...
When designing rehabilitation robots, there remains the challenge of ensuring the comfort and safety of users, especially for wearable rehabilitation robots that interact with human limbs. In this paper, we present a kineto-static analysis of the 3-R...
In the field of rigid parallel manipulators, the Delta parallel robot is one of the most popular choices in the industry due to its ability to adapt to a wide range of applications, particularly pick-and-place tasks. In this paper, the authors presen...
Precision tilt stages capable of high angular resolution and low cross-axis coupling are essential for applications such as free-space optical communication, adaptive optics, and micro/nano-positioning. In this study, a two-degree-of-freedom complian...
A backside-illuminated complementary metal-oxide-semiconductor (CMOS) image sensor with 4.0 μm voltage domain global shutter (GS) pixels has been fabricated in a 45 nm/65 nm stacked CMOS process as a proof-of-concept vehicle. The pixel components...
The human body is constantly attacked by pathogens. Various lines of defence have evolved, among which the immune system is principal. In contrast to most pathogens, the African trypanosomes thrive freely in the blood circulation, where they escape i...
Parametric resonance is a dynamic instability due to the internal transfer of energy between degrees of freedom. Parametric resonance is known to cause large unstable pitch and/or roll motions in floating bodies, and has been observed in wave energy...
Space nuclear reactor power system (SNRPS) is a priority technical solution to meet the future space power requirement of high-power, low-mass, and long-life. The thermoelectric conversion subsystem is the key component of SNRPS, which greatly affect...
Senotainia tricuspis (Meigen, 1838) is a Sarcophagid dipteran endoparasitoid of Apis mellifera L., and myiasis, caused by this fly, is reported in several European, North African and Middle Eastern countries. Nevertheless, very little knowledge conce...
This paper presents a comprehensive analysis of zero-voltage-switching (ZVS) realization with an improved charge-based method by considering both voltage dependency parasitic capacitance and dead time in dual-active-bridge (DAB) converters, when the...
In this study, a planar ultrasonic motor platform is presented that uses three half-side excited piezoelectric hemispherical shell resonators. To understand the working principle and the harmonic vibration behavior of the piezoelectric resonator, the...
Due to complicated processing technology, the mass distribution of a hemispherical resonator made of fused silica is not uniform, which can affect the azimuth of the standing wave of a resonator under the linear vibration excitation. Therefore, the a...
Thermal energy storage (TES) systems are essential components of concentrating solar power (CSP) plants that enable uniform generation of green electricity and process heat. The performance of sensible heat TES systems based on granular material and...
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