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In this paper, we study the effect of mechanical compliance on the impact force of human-robot interactions, more specifically the maximum impact force during a collision. Here we consider two methods of introducing compliance to industrial manipulators: joint compliance and link compliance. To compare their effect on the maximum impact force, we study two designs of a 2D robot link: a rigid link...
In this paper, we present a novel wheeled robot that transforms from a circled configuration to a spoke-like legged configuration. Wheeled mobile robots are able to quickly and efficiently move on flat surfaces. However they may sink into a terrain with dynamic surface such as snow, sand, dirt, moss, and small gravel. The transformable wheel robot presented in this paper is able to overcome obstacles...
This paper concentrates on the development and evaluation of linear characteristics of a complex flexure hinge with high accuracy and large stiffness. The flexure hinge mechanism is used to clamp the shaft of a micropositioning stage based on the inchworm principle. Six key parameters of the flexure hinge are optimized by using finite element method. Developed flexure hinge has very good effects on...
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