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In this paper, we propose a complete closed-form solution to the inverse kinematics problem for a 5-dof manipulator robot, where the existence conditions for all the possible solutions are clearly established and the "singular configurations" where infinite solutions exist are identified. We define a "desired configuration" for the final effector as the position for the center...
More and more people prefer a new inserted shape memory alloy actuator (ISMAA) to a traditional SMA actuator because there are some advantages in ISMAA, such as precise control abilities, high response, broad range of performance, and so on. An elastic rod and two SMA wires, which are inserted in parallel with the axis of the rod, make up the actuator. The actuating wire, which is one of the two wires,...
A grasping and manipulation with a multi-fingered hand is comprised of one or more functional finger actions. We define a functional finger action as a ??primitive action,?? and fingers that are used in separate primitive actions in a grasping and manipulation as ??functional finger isolation.?? Various grasping and manipulations can be realized by assigning different primitive actions to the functional...
Modules have been widely used in the development of re-configurable robots and snake-like robots. Modular methodology can also be applied in design of other robots. To build robots flexibly and quickly with low costs, we have developed two basic joint modules and several functional modules including grippers, suckers and wheels/feet as end-effectors. In this paper, we introduce the development of...
This paper presents a novel design and preliminary kinematic analysis of an insertable robotic effector platform (IREP) for single port access (SPA) surgery. The IREP robot can be deployed into body cavity through a ??15 mm skin incision to perform SPA procedures. It consists of two snake-like continuum robots as slave surgical assistants for tissue manipulation, two parallelogram mechanisms for the...
In many future joint-action scenarios, humans and robots will have to interact physically in order to cooperate successfully. Ideally, human-robot interaction should not require training on the human side, but should be intuitive and simple. Previously, we reported on a simple case of physical human-robot interaction, a hand-over task. Even such a basic task as manually handing over an object from...
The increasing requirement for robotic applications in dynamic unstructured environments is motivating the need for dextrous end-effectors which have the wide variety of tasks and objects encountered in these environments. The human hand is a very complex grasping tool that can handle objects of different sizes and shapes. Many research activities have been carried out to develop artificial robot...
This paper presents an algorithm to solve the inverse kinematics problem for a complex wrist structure six degree of freedom (6DOF) robotic manipulator. The last three rotating axes do not intersect at one point and there are off axes in its coordinate frames. The proposed algorithm based on the rotation vector concept, which is also used to describe the orientation of manipulator end-effector. All...
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