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This paper applies Darboux frame method to developing geometric kinematics of sliding-spin-rolling motion of rigid objects with point contact. For the first time, the geodesic curvatures, normal curvatures and geodesic torsions of both the sliding motion and rolling motion are derived in terms of known geometric entities. The geometric kinematics of the moving object is represented with geometric...
This paper presents various limb arrangements of a 3-PUP parallel mechanism constructed by special PUP limbs. The constraints of the PUP limb are studied using reciprocal screws, which are used to describe the platform constraint system of the 3-PUP parallel mechanism that is divided into a torque and a force constraint set. By analyzing the system orders of the two sets to arrange the constraint...
Minimally invasive Surgery (MIS) is one of the most challenging fields for robot designers due to the limited size of the access points, to the high miniaturization level and to the dexterity needed for performing surgical tasks. For this reason, the integration of actuators should proceed in parallel with the identification of the most effective transmission mechanisms and kinematics. Conversely,...
This paper presents models for description and identification of various cartons in their discrete states, and proposes a new approach to describe the transformation of configuration states during carton manipulation in a packaging process. The method makes use of matrix operations which can be used to identify and model the steps and changes in carton manipulation at different stages of a packaging...
Hydraulic actuators are characterized by fast dynamics, high power density, high stiffness, large output force/torque, and in recent years are becoming increasingly attractive in the field of robotics. This paper presents the study of a 3-way proportional valve controlled, spring assisted electro-hydraulic rotary actuator, which consists of a 3-way proportional valve, a linear cylinder and a reciprocal...
This paper first develops a mathematical model for the dynamic characteristics analysis of a toroidal drive. This model allows the analysis of a toroidal transmission with any numbers of planet worm gears distributed around the sun worm and any numbers of spherical rollers distributed around the planet-worm gear. In the modeling process, distinguished with other kind of gear transmission modeling,...
This paper presents the control architecture and preliminary experimental results of a high performance parallel robot used for ankle rehabilitation. The goal of this work was to design suitable control algorithms for diagnostic, training and rehabilitation of the ankle in presence of musculoskeletal injuries. A position control scheme is used for patient-passive exercises while an admittance control...
This paper presents the design of an admittance-based assistive controller and preliminary experimental results for a high performance parallel robot used for ankle rehabilitation. The goal of this work was to design a suitable control algorithm for diagnosis, training and rehabilitation of the ankle in presence of musculoskeletal injuries. An admittance control technique is used to perform patient-active...
An approach to 3D implicit curve interpolation in computer numerical systems (CNC) is presented. A 3D implicit curve is the intersection of two implicit surfaces. Geometric entities of 3D implicit curves are related to motion entities along the curve. The results are then used to develop real-time 3D implicit curve interpolation. An improved interpolation scheme has been proposed to augment the initial...
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