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The aim of this research is to find an actuated level ground walking method, which is analogous to the dynamics of a passive dynamic walker on a slope. We propose to take advantage of the coupled elastic to actuate legs. As a result, maintaining the character of passive dynamic and a simple control algorithm are achieved simultaneously. In our walking model, actuated bars are installed on each leg...
In recent years, there has been an increasing interest in the development of variable stiffness actuators (VSAs) for legged robots. In this paper, we explore how VSAs can be used in legged robots to achieve energy efficient locomotion on compliant surfaces at various stride frequencies. Our legged robot is consisted of an actuated hip joint and a passive knee joint equipped with a VSA, named L-MESTRAN...
This paper focuses on output properties of cellular artificial actuator. The actuator is built from small actuator cells with structural elasticity. These cells are connected together in series to form fibers, which are in turn connected in parallel to form the whole actuator. These cells are controlled to determine whether to be in a contracted, or ON, state or a relaxed, or OFF, state. Arranging...
Projectile is an important part of the anchoring system for landing on small bodies. It penetrates into the small bodies and supplies anchoring force to avoid flowing away of the lander. In order to advance the anchoring force of the projectile, a structural changing projectile is designed. Structural changing modes are discussed, and then a projectile is designed. The anchoring performances of the...
This paper presents an electrical powered transfemoral prosthesis. The knee joint is actuated by a motor-driven ball screw assembly and the ankle joint is motioned by a series elastic actuator. An undirectional spring is attached paralleled with the SEA to store energy during dorsiflexion and bias load of ankle torque. To mimic biomechanical gait data and make the prosthesis compact and anthropomorphic,...
Amputees wearing a transradial prosthesis are compelled to perform compensatory movements of the shoulder, elbow and trunk, while reaching objects in the environment, due to the lack of degrees of freedom (DoF) in their artificial arm. These unnatural movements yield to articulation injuries in the long run, which could be reduced/eliminated by adding an articulated compliant wrist. Several passive...
This paper presents simulation and analysis on dynamics of a hybrid mobile robot. The robot is designed to take advantage of both rolling and jumping locomotion ways on the ground. The most outstanding feature of the robot is the minimum use of actuator. The robot is designed to be able to execute both jumping and rolling skillfully by using only one DC motor. Mechanism design and control logic are...
It is necessary to know the air inflow of suction cup for the designing of a new passive suction cup, which not only could easily attach and detach, but also could keep long adsorption time. This paper proposes a method to calculate the air inflow and its speed, which is easy to implement since it only requires a pressure sensor. Before calculating the air inflow, the factors affecting it should be...
Expansion Rod Capturing Nozzle Device is developed to achieve the function of capturing the non-cooperative satellite by locking the main engine nozzle. Nozzle structure is captured by the device through its throat, so the size and mass are small. The overall structure design of the device and the operating principle of the Expansion Rod mechanism are described. A method of Meshing Profile Modeling...
The amount of hazardous orbit debris has been increasing, posing an ever-greater danger to space assets and crewed missions. This paper proposed a novel Maneuvering-Net Space Robot System (MNSRS), which is comprised of a flexible net and four maneuvering robots, to recover the orbit environment. The MNSRS is provided with many advantages in orbit debris clearing missions, such as high efficiency,...
The realization of natural, fast and versatile motions for bipedal robots is still a challenge. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is required. In this paper, a new mechanism of knee joint with variable reduction ratio adaptive to load is proposed to improve the capability of actuation...
In this article, design of bionic quadruped, mainly focusing on leg design, is given and force analysis of the mechanism is calculated and simulated. To better improve the design, force on sole and torque on joints should be diminished to increase the mobility and capacity of the robot. Therefore, a design method based on biomechanics and bionic control strategy is proposed for this quadruped robotic...
A variable stiffness actuator is proposed according to the human ergonomic joint actuation mechanism and applied to an elbow rehabilitation robot. The robot employs an antagonistic compliant driving actuation to ensure rehabilitation training effectiveness and the patient's safety even under the condition of spasm. The robot joint stiffness and position can be controlled simultaneously by using the...
Rotary-percussive Drill (RPD) has been widely employed in extraterrestrial exploration as a main drilling and sampling device. Percussive mechanism, as an inevitable part of RPD, is commonly utilized to exert percussion onto drill stem to improve drilling performance once hard rock is encountered. However, since driving resource provided by the probe is limited in lunar exploration, outputs of percussive...
Anchoring technology is necessary for the lander to land on the asteroid. Four types of anchoring modes and their characteristics are discussed, and then an anchoring system is introduced. Some key factors related to the performance of the anchoring system are presented. These factors include characteristics of the asteroid, penetrating energy and shape of the anchor tip. Penetrating energy and shape...
In this paper we introduced a unidirectional joint with adjustable stiffness (UJAS) for legged robot applications. It allowed the robotic leg to change dynamic property by tuning joint parameters. The joint was designed to provide large compliant motion range and sufficient energy storage capacity for passive gaits. In order to avoid undesired leg vibration during flying phase we brought about the...
The mole is an axially symmetric intrusion device, which can be treated as a carrier of different sensors that investigate the subsurface environment and properties of the material component. To some extent, the maximum penetration depth of a single stroke for hammer-driven mole is not only limited by the stroke energy but also the influence of the soil resistance which links to the shape of the front...
This paper presents a starfish-like robot with bionic soft body, multi-motion inspired by live starfishes. The structural design principle is based on the biological investigation. The robot prototype is fabricated with help of 3D printing model. By the locomotion principle and control strategy, the soft starfish-like robot is able to fulfill in crawling on flat ground, climbing over viscous soil...
An exoskeleton system to assist hand rehabilitation exercise autonomously was introduced in this paper. A geared four-bar linkage mechanism was proposed as the main structure of the exoskeleton, and was verified by kinematic modeling, static analysis as well as finite element analysis. To determine the size of the exoskeleton, the optimization method was adopted, so as to improve the kinematic performance...
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