Revanth Konda, David Bombara, Ember Chow, Jun Zhang
Realizing high-performance soft robots is challenging because many existing soft or compliant actuators exhibit limitations like fabrication complexity, high power requirement, slow actuation, and low force generation. Due to their high force output and power efficiency, compactness, and simplicity in fabrication, twisted string actuators (TSAs) have exhibited strong potential in mechatronic and robotic applications. However, they have had limited uses in soft robotics. Consequently, modeling and control of TSA-driven soft robots have not been sufficiently studied. This paper presents the first study on the modeling and control of a TSA-driven soft robot manipulator. A physics-based model was developed to predict the manipulator's kinematic motion. An inverse model was derived to realize open-loop control. Models which describe the behavior of TSAs were utilized in a novel way to develop the proposed kinematic and inverse mod- els of the soft robot. The proposed modeling and control approaches were experimentally verified to be effective. For example, the modeling and control errors of the bending angle were 1.60°(3.11%) and 2.11°(3.68%), respectively.
{"title":"Kinematic Modeling and Open-Loop Control of A Twisted String Actuator-Driven Soft Robotic Manipulator","authors":"Revanth Konda, David Bombara, Ember Chow, Jun Zhang","doi":"10.1115/1.4062466","DOIUrl":"https://doi.org/10.1115/1.4062466","url":null,"abstract":"\u0000 Realizing high-performance soft robots is challenging because many existing soft or compliant actuators exhibit limitations like fabrication complexity, high power requirement, slow actuation, and low force generation. Due to their high force output and power efficiency, compactness, and simplicity in fabrication, twisted string actuators (TSAs) have exhibited strong potential in mechatronic and robotic applications. However, they have had limited uses in soft robotics. Consequently, modeling and control of TSA-driven soft robots have not been sufficiently studied. This paper presents the first study on the modeling and control of a TSA-driven soft robot manipulator. A physics-based model was developed to predict the manipulator's kinematic motion. An inverse model was derived to realize open-loop control. Models which describe the behavior of TSAs were utilized in a novel way to develop the proposed kinematic and inverse mod- els of the soft robot. The proposed modeling and control approaches were experimentally verified to be effective. For example, the modeling and control errors of the bending angle were 1.60°(3.11%) and 2.11°(3.68%), respectively.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44112316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract' This paper introduces for the first time, the Lagrange's dynamic equations in dual number quaternion form. Additionally, Rayleigh's dissipation function in dual quaternion form is introduced here allowing for the accounting of dissipative (non-conservative) forces such as motion through a viscous fluid, friction, and spring damping force. As an example, dual quaternions are used here to derive the Lagrange dynamic equations of a robot manipulator.
{"title":"Dual Quaternions Representation of Lagrange's dynamic equations","authors":"A. Cohen, Benjamin Taub, M. Shoham","doi":"10.1115/1.4062463","DOIUrl":"https://doi.org/10.1115/1.4062463","url":null,"abstract":"Abstract' This paper introduces for the first time, the Lagrange's dynamic equations in dual number quaternion form. Additionally, Rayleigh's dissipation function in dual quaternion form is introduced here allowing for the accounting of dissipative (non-conservative) forces such as motion through a viscous fluid, friction, and spring damping force. As an example, dual quaternions are used here to derive the Lagrange dynamic equations of a robot manipulator.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49601483","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Andreas Mueller, J. Kovecses, Charles J. Kim, C. Padmanabhan, G. Orosz
{"title":"Joint Special Issue on “Design and Control of Responsive Robots”","authors":"Andreas Mueller, J. Kovecses, Charles J. Kim, C. Padmanabhan, G. Orosz","doi":"10.1115/1.4062417","DOIUrl":"https://doi.org/10.1115/1.4062417","url":null,"abstract":"","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42265640","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Energy-efficient gaits in walking robots can be obtained by designing elastic systems that exhibit naturally emerging locomotion patterns. Biological legged locomotion serves as inspiration, as animals use different gaits to move at certain speeds while minimizing energy consumption. To understand the underlying dynamics of biological locomotion, simplified models have been proposed. The most common one, the SLIP (Spring Loaded Inverted Pendulum) model, can explain the effect of the radial elasticity of linear legs and helps to explain locomotion patterns, especially for running behaviors, in different legged systems. Unfortunately, the SLIP model is inappropriate for the study of stability of limit cycles in systems with articulated legs, which are most commonly used in real robots. This paper introduces a novel quadrupedal template model featuring articulated elastic legs, non-constant leg stiffness, and dynamic leg swing. Numerical simulation with a continuation approach is used to discover the gaits emerging from the natural dynamics of the model, without imposing any contact sequence a priori. The stability of those gaits is also characterized, in order to facilitate the exploitation of the natural model dynamics for generating locomotion patterns for quadrupedal robots
{"title":"Emerging Gaits for a Quadrupedal Template Model with Segmented Legs","authors":"Lorenzo Boffa, Anna Sesselmann, M. Roa","doi":"10.1115/1.4062388","DOIUrl":"https://doi.org/10.1115/1.4062388","url":null,"abstract":"Energy-efficient gaits in walking robots can be obtained by designing elastic systems that exhibit naturally emerging locomotion patterns. Biological legged locomotion serves as inspiration, as animals use different gaits to move at certain speeds while minimizing energy consumption. To understand the underlying dynamics of biological locomotion, simplified models have been proposed. The most common one, the SLIP (Spring Loaded Inverted Pendulum) model, can explain the effect of the radial elasticity of linear legs and helps to explain locomotion patterns, especially for running behaviors, in different legged systems. Unfortunately, the SLIP model is inappropriate for the study of stability of limit cycles in systems with articulated legs, which are most commonly used in real robots. This paper introduces a novel quadrupedal template model featuring articulated elastic legs, non-constant leg stiffness, and dynamic leg swing. Numerical simulation with a continuation approach is used to discover the gaits emerging from the natural dynamics of the model, without imposing any contact sequence a priori. The stability of those gaits is also characterized, in order to facilitate the exploitation of the natural model dynamics for generating locomotion patterns for quadrupedal robots","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43658048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Marios Vasileiou, N. Manos, Nikos Vasilopoulos, Anastasia Douma, E. Kavallieratou
In fish farms a major issue is the net cage wear, resulting in fish escapes and negative impact of fish quality, due to holes and biofouling of the nets. To minimize fish losses, fisheries utilize divers to inspect net cages on a weekly basis. Aquaculture companies are looking for ways to maximize profit and reduce maintenance costs is one of them. Kefalonia Fisheries spend 250 thousand euros yearly on diver expenses for net cages maintenance. This work is about the design, fabrication, and control of an inexpensive autonomous underwater vehicle intended for inspection in net cages at Kefalonia Fisheries S.A. in Greece. Its main body is 3D-printed, and its eight-thruster configuration grants it six degrees of freedom. The main objective of the vehicle is to limit maintenance costs by increasing inspection frequency. The design, fabrication as well as the electronics and software architecture of the vehicle are presented. In addition, the forces affecting Kalypso, mobility realization, navigation, and modeling are quoted along with a flow simulation and the experimental results. The proposed design is adaptable and durable while remaining cost effective, and it can be used for both manual and automatic operations.
{"title":"Kalypso AUV: A 3D-printed Underwater vehicle for inspection at Fisheries","authors":"Marios Vasileiou, N. Manos, Nikos Vasilopoulos, Anastasia Douma, E. Kavallieratou","doi":"10.1115/1.4062355","DOIUrl":"https://doi.org/10.1115/1.4062355","url":null,"abstract":"\u0000 In fish farms a major issue is the net cage wear, resulting in fish escapes and negative impact of fish quality, due to holes and biofouling of the nets. To minimize fish losses, fisheries utilize divers to inspect net cages on a weekly basis. Aquaculture companies are looking for ways to maximize profit and reduce maintenance costs is one of them. Kefalonia Fisheries spend 250 thousand euros yearly on diver expenses for net cages maintenance. This work is about the design, fabrication, and control of an inexpensive autonomous underwater vehicle intended for inspection in net cages at Kefalonia Fisheries S.A. in Greece. Its main body is 3D-printed, and its eight-thruster configuration grants it six degrees of freedom. The main objective of the vehicle is to limit maintenance costs by increasing inspection frequency. The design, fabrication as well as the electronics and software architecture of the vehicle are presented. In addition, the forces affecting Kalypso, mobility realization, navigation, and modeling are quoted along with a flow simulation and the experimental results. The proposed design is adaptable and durable while remaining cost effective, and it can be used for both manual and automatic operations.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48464144","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Calculating the maximum obstacle-crossing ability accurately in the mechanism design stage can better ensure that the manufactured robot prototype meets the predefined indices. The obstacle-crossing task of the legged robot is achieved by the collaborative movement of the leg and body. The reachable workspace constrains the spatial movement boundary of the foot tip and the robot body. The reachable workspace of the foot tip is invariant, while the shape and volume of the reachable body workspace vary with the supporting footholds. The body movement is modeled as a six-bar mechanism, and the reachable body workspace means the reachable workspace of the specified target point located on the moving platform of the six-bar mechanism. Unlike the previous work, the analytical method of calculating the reachable body workspace for the target point outside the moving platform named the external target point is studied. The influence of supporting footholds and shank-ground interference on the reachable body workspace is considered. The selection of supporting footholds, the collaborative motion sequences of the robot body and legs, and the determination of the maximum ability for crossing a ditch and climbing a step are demonstrated for implementing the analytical reachable body workspace. Finally, simulations corroborate the correctness of the theoretical analysis.
{"title":"Implementing the analytical reachable body workspace for calculating the obstacle-crossing ability of a hexapod robot","authors":"Chenkun Qi, Huayang Li, F. Gao, Xianbao Chen, Yue Zhao, Zhijun Chen","doi":"10.1115/1.4062353","DOIUrl":"https://doi.org/10.1115/1.4062353","url":null,"abstract":"\u0000 Calculating the maximum obstacle-crossing ability accurately in the mechanism design stage can better ensure that the manufactured robot prototype meets the predefined indices. The obstacle-crossing task of the legged robot is achieved by the collaborative movement of the leg and body. The reachable workspace constrains the spatial movement boundary of the foot tip and the robot body. The reachable workspace of the foot tip is invariant, while the shape and volume of the reachable body workspace vary with the supporting footholds. The body movement is modeled as a six-bar mechanism, and the reachable body workspace means the reachable workspace of the specified target point located on the moving platform of the six-bar mechanism. Unlike the previous work, the analytical method of calculating the reachable body workspace for the target point outside the moving platform named the external target point is studied. The influence of supporting footholds and shank-ground interference on the reachable body workspace is considered. The selection of supporting footholds, the collaborative motion sequences of the robot body and legs, and the determination of the maximum ability for crossing a ditch and climbing a step are demonstrated for implementing the analytical reachable body workspace. Finally, simulations corroborate the correctness of the theoretical analysis.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46234043","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Conventional mobile robots have difficulty navigating highly unstructured spaces such as caves and forests. In these environments, a highly extendable limb could be useful for deploying hooks to climb over terrain, or for reaching hard-to-access sites for sample collection. This article details a new form of a multimodal mobile robot that utilizes a novel tape spring limb named EEMMMa (elastic extending mechanism for mobility and manipulation). Its innovative U-shaped tape structure allows it to handle loads in tension as well as compression. It can also bend using mechanical multiplexing for a lightweight and compact design that is well suited for mobile robots. For mobility, the limb can extend prismatically to deploy grappling hook anchors to suspend and transport the main body, or even serve as legs. For manipulation, the limb can morph its shape to bend around or over obstacles, allowing it to retrieve distant objects or position cameras around corners. The EEMMMa-1 prototype detailed in this article successfully demonstrates climbing ladders and shelves in 1.5 body lengths per second, and can bend up to 100 deg. A simplified model of the bending kinematics is developed and analyzed. This article concludes by detailing future EEMMMa applications and theories to strengthen the model in future studies.
{"title":"Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation","authors":"Justin Quan, Dennis W. Hong","doi":"10.1115/1.4062150","DOIUrl":"https://doi.org/10.1115/1.4062150","url":null,"abstract":"Abstract Conventional mobile robots have difficulty navigating highly unstructured spaces such as caves and forests. In these environments, a highly extendable limb could be useful for deploying hooks to climb over terrain, or for reaching hard-to-access sites for sample collection. This article details a new form of a multimodal mobile robot that utilizes a novel tape spring limb named EEMMMa (elastic extending mechanism for mobility and manipulation). Its innovative U-shaped tape structure allows it to handle loads in tension as well as compression. It can also bend using mechanical multiplexing for a lightweight and compact design that is well suited for mobile robots. For mobility, the limb can extend prismatically to deploy grappling hook anchors to suspend and transport the main body, or even serve as legs. For manipulation, the limb can morph its shape to bend around or over obstacles, allowing it to retrieve distant objects or position cameras around corners. The EEMMMa-1 prototype detailed in this article successfully demonstrates climbing ladders and shelves in 1.5 body lengths per second, and can bend up to 100 deg. A simplified model of the bending kinematics is developed and analyzed. This article concludes by detailing future EEMMMa applications and theories to strengthen the model in future studies.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135861832","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In flapping-wing air vehicles, the flapping mechanism is directly related to the movement of the wing making it one of the major factors in determining aerodynamic performance. In this study, a method to increase aerodynamic performance using the flapping mechanism is discussed. This paper presents a twist-coupled mechanism that can increase thrust by combining twisting motion with flapping motion. The proposed mechanism generates twisting motion by the 4-bar planar link mechanism and flapping motion by the 4-bar spatial link mechanism. The mechanism can be driven by only one actuator by connecting two crankshafts with a pair of gears and rotating them at once. Here, we define the design parameters and constraints and search for the optimal design parameters to maximize aerodynamic force. Optimization is carried out by a genetic algorithm, a global optimization algorithm, combining kinematic and aerodynamic analyses. We then search for the design parameters that maximize thrust. Based on our optimization results, the proposed mechanism has the figure-of-eight wingtip trajectory motion like the flying animals. The aerodynamic efficiency of the proposed mechanism was validated by an aerodynamic measurement test comparing a reference mechanism that can only generate flapping motion without twisting motion. For comparative validation, prototypes of the proposed mechanism and the reference mechanism were designed and fabricated. Thrust and lift were measured by the wind tunnel test. From the wind tunnel test, it is confirmed that the proposed mechanism can generate aerodynamic loads more efficiently than the reference mechanism.
{"title":"Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles","authors":"Yu-Jeong Han, Hyeon-Ho Yang, Jae-Hung Han","doi":"10.1115/1.4062339","DOIUrl":"https://doi.org/10.1115/1.4062339","url":null,"abstract":"\u0000 In flapping-wing air vehicles, the flapping mechanism is directly related to the movement of the wing making it one of the major factors in determining aerodynamic performance. In this study, a method to increase aerodynamic performance using the flapping mechanism is discussed. This paper presents a twist-coupled mechanism that can increase thrust by combining twisting motion with flapping motion. The proposed mechanism generates twisting motion by the 4-bar planar link mechanism and flapping motion by the 4-bar spatial link mechanism. The mechanism can be driven by only one actuator by connecting two crankshafts with a pair of gears and rotating them at once. Here, we define the design parameters and constraints and search for the optimal design parameters to maximize aerodynamic force. Optimization is carried out by a genetic algorithm, a global optimization algorithm, combining kinematic and aerodynamic analyses. We then search for the design parameters that maximize thrust. Based on our optimization results, the proposed mechanism has the figure-of-eight wingtip trajectory motion like the flying animals. The aerodynamic efficiency of the proposed mechanism was validated by an aerodynamic measurement test comparing a reference mechanism that can only generate flapping motion without twisting motion. For comparative validation, prototypes of the proposed mechanism and the reference mechanism were designed and fabricated. Thrust and lift were measured by the wind tunnel test. From the wind tunnel test, it is confirmed that the proposed mechanism can generate aerodynamic loads more efficiently than the reference mechanism.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"1 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41362187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
N. Robson, Vanessa Audrey, Ashutosh Dwivedi, Dylan Kunzmann
This paper explores the kinematic synthesis, design and pilot experimental testing of a six-legged walking robotic platform able to traverse through different terrains. We aim to develop a structured approach to designing the limb morphology using a relaxed kinematic task with incorporated conditions on foot-environments contact force direction (related to stability) and curvature constraints (related to maintaining contact). The design approach builds up incrementally starting with studying the basic human leg walking trajectory and then defining a “relaxed” kinematic task. The “relaxed” kinematic task consists only of two contact locations (toe-off and heel-strike) with higher order motion task specifications compatible with foot-terrain(s) contact and curvature constraints in the vicinity of the two contacts. As the next step, an eight-bar leg image is created based on the “relaxed” kinematic task and incorporated within a six-legged walking robot. Pilot experimental tests explore if the proposed approach results in an adaptable behavior which allows the platform to incorporate different walking foot trajectories and gait styles coupled to each environment. The results suggest that the proposed “relaxed” higher order motion task combined with the leg morphological properties and feet material allowed the platform to walk stably on the different terrains. The main advantage of the proposed method is that the platform has carefully designed limb morphology with incorporated conditions on foot-environment interaction and incorporates a single actuator to drive all six legs.
{"title":"Robust Multi-Legged Walking Robots for Interactions with Different Terrains","authors":"N. Robson, Vanessa Audrey, Ashutosh Dwivedi, Dylan Kunzmann","doi":"10.1115/1.4062303","DOIUrl":"https://doi.org/10.1115/1.4062303","url":null,"abstract":"\u0000 This paper explores the kinematic synthesis, design and pilot experimental testing of a six-legged walking robotic platform able to traverse through different terrains. We aim to develop a structured approach to designing the limb morphology using a relaxed kinematic task with incorporated conditions on foot-environments contact force direction (related to stability) and curvature constraints (related to maintaining contact). The design approach builds up incrementally starting with studying the basic human leg walking trajectory and then defining a “relaxed” kinematic task. The “relaxed” kinematic task consists only of two contact locations (toe-off and heel-strike) with higher order motion task specifications compatible with foot-terrain(s) contact and curvature constraints in the vicinity of the two contacts. As the next step, an eight-bar leg image is created based on the “relaxed” kinematic task and incorporated within a six-legged walking robot. Pilot experimental tests explore if the proposed approach results in an adaptable behavior which allows the platform to incorporate different walking foot trajectories and gait styles coupled to each environment. The results suggest that the proposed “relaxed” higher order motion task combined with the leg morphological properties and feet material allowed the platform to walk stably on the different terrains. The main advantage of the proposed method is that the platform has carefully designed limb morphology with incorporated conditions on foot-environment interaction and incorporates a single actuator to drive all six legs.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44636097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Vimalesh Muralidharan, Nicolas Testard, C. Chevallereau, A. Abourachid, P. Wenger
This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-inspired manipulators suitable for safe interactions. Manipulators under study are built upon arranging in series several tensegrity joints, called modules. A comparative study of several modules revealed that the X module, in contrast to modules based on pivots, allows one to increase joint stiffness by increasing antagonistic input forces like during muscle coactivation. For a planar manipulator with N modules, antagonistic actuation schemes with 2N and N+1 cables are proposed and compared. It is shown that the N+1 cable actuation scheme allows controlling both the manipulator configuration and joint stiffness satisfactorily. As compared with a manipulator with 2N active cables, one on each side of each module, higher forces are required to achieve the manipulator configuration. However, the N+1 cable actuation scheme is a reasonable solution that allows reducing moving masses and cost while offering more flexibility.
{"title":"Variable stiffness and antagonist actuation for cable-driven manipulators inspired by the bird neck","authors":"Vimalesh Muralidharan, Nicolas Testard, C. Chevallereau, A. Abourachid, P. Wenger","doi":"10.1115/1.4062302","DOIUrl":"https://doi.org/10.1115/1.4062302","url":null,"abstract":"\u0000 This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-inspired manipulators suitable for safe interactions. Manipulators under study are built upon arranging in series several tensegrity joints, called modules. A comparative study of several modules revealed that the X module, in contrast to modules based on pivots, allows one to increase joint stiffness by increasing antagonistic input forces like during muscle coactivation. For a planar manipulator with N modules, antagonistic actuation schemes with 2N and N+1 cables are proposed and compared. It is shown that the N+1 cable actuation scheme allows controlling both the manipulator configuration and joint stiffness satisfactorily. As compared with a manipulator with 2N active cables, one on each side of each module, higher forces are required to achieve the manipulator configuration. However, the N+1 cable actuation scheme is a reasonable solution that allows reducing moving masses and cost while offering more flexibility.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45475655","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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