Thematische Bibliographien / Robotic translation mechanism

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Auswahl der wissenschaftlichen Literatur zum Thema „Robotic translation mechanism“

Autor: Grafiati

Veröffentlicht am 28. Juni 2021

Zuletzt aktualisiert am 12. Februar 2022

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Zeitschriftenartikel zum Thema "Robotic translation mechanism"

Li, Peng Hui, und Rong Ye Li. „The Kinematic Analysis of the Walking Mechanism Based on the Leg-Wheel Mobile Robot“. Advanced Materials Research 694-697 (Mai 2013): 1700–1704. http://dx.doi.org/10.4028/www.scientific.net/amr.694-697.1700.

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In the studying and designing process for the robotic walking system, a theoretical analysis and simulation on the kinematic characteristics of the walking mechanism of the robot is done. From our experiments, the characteristic curves of velocity and acceleration of the drop-foot point are obtained. The walking mechanism is stable in the translation cycle, which contributes to the stability of the robot motion, while the robot still can move at a certain speed. The stress of the walking mechanism is complicated in the step cycle, because both the velocity and acceleration get a certain amount of mutation.

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Godoy, Jorge Curiel, Ignacio Juárez Campos, Lucia Márquez Pérez und Leonardo Romero Muñoz. „Nonanthropomorphic exoskeleton with legs based on eight-bar linkages“. International Journal of Advanced Robotic Systems 15, Nr. 1 (01.01.2018): 172988141875577. http://dx.doi.org/10.1177/1729881418755770.

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This article presents the principles upon which a new nonanthropomorphic biped exoskeleton was designed, whose legs are based on an eight-bar mechanism. The main function of the exoskeleton is to assist people who have difficulty walking. Every leg is based on the planar Peaucellier–Lipkin mechanism, which is a one degree of freedom linkage. To be used as a robotic leg, the Peaucellier–Lipkin mechanism was modified by including two more degrees of freedom, as well as by the addition of a mechanical system based on toothed pulleys and timing belts that provides balance and stability to the user. The use of the Peaucellier–Lipkin mechanism, its transformation from one to three degrees of freedom, and the incorporation of the stability system are the main innovations and contributions of this novel nonanthropomorphic exoskeleton. Its mobility and performance are also presented herein, through forward and inverse kinematics, together with its application in carrying out the translation movement of the robotic foot along paths with the imposition of motion laws based on polynomial functions of time.

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Beira, R., L. Santos-Carreras, G. Rognini, H. Bleuler und R. Clavel. „Dionis: A Novel Remote-Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery“. Applied Bionics and Biomechanics 8, Nr. 2 (2011): 191–208. http://dx.doi.org/10.1155/2011/973097.

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The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism, namedDionis, is proposed in this paper. This spatial hybrid mechanism based on a novel parallel kinematics is able to provide three rotations and one translation for single port procedures. The corresponding axes intersect at a remote center of rotation (RCM) that is the MIS entry port. Another important feature of the proposed positioning manipulator is that it can be placed below the operating table plane, allowing a quick and direct access to the patient, without removing the robotic system. This, besides saving precious space in the operating room, may improve safety over existing solutions. The conceptual design of Dionis is presented in this paper. Solutions for the inverse and direct kinematics are developed, as well as the analytical workspace and singularity analysis. Due to its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fullfils the workspace specifications for MIS procedures.

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Choi, Jueun, Sangeun Park, Young-Hak Kim, Youngjin Moon und Jaesoon Choi. „A Vascular Intervention Assist Device Using Bi-Motional Roller Cartridge Structure and Clinical Evaluation“. Biosensors 11, Nr. 9 (10.09.2021): 329. http://dx.doi.org/10.3390/bios11090329.

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Conventional vascular intervention procedures present issues including X-ray exposure during operation, and an experience-dependent success rate and clinical outcome. This paper presents a novel robotic system using modularized bi-motional roller cartridge assemblies for robotic vascular interventions, specifically percutaneous coronary interventions (PCIs). The patient-side robot manipulates instruments such as the guiding catheter, guidewire, balloon/stent catheter, and diagnostic sensor catheter via commands from the user interface device, which is controlled by the physician. The proposed roller cartridge assembly can accommodate instruments of various sizes with an active clamping mechanism, and implements simultaneous translation and rotation motions. It also implements force feedback in the physician-side system, to effectively monitor the patient-side system’s status. The positioning accuracy and precision in using the robotic system showed satisfactory performance in a phantom-based test. It was also confirmed, through animal experiments and a pilot clinical trial, that the system demonstrates feasibility for clinical use.

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Zhou, Chunlin, Huifeng Wu, Xiang Xu, Yong Liu, Qi Zhu und Shuwen Pan. „Development and control of a robotic arm for percutaneous surgery“. Assembly Automation 37, Nr. 3 (07.08.2017): 314–21. http://dx.doi.org/10.1108/aa-12-2016-179.

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Purpose The purpose of this paper is to propose a robotic system for percutaneous surgery. The key component in the system, a robotic arm that can manipulate a puncture needle is presented. The mechanical design, the motion control and the force control method of the robotic arm are discussed in the paper. Design/methodology/approach The arm with an arc mechanism placed on a 3D Cartesian stage is developed as a puncture needle manipulator to locate the position of the needle tip, tune the needle’s posture and actuate the puncture motion under the visual guidance of two orthogonal X-ray images of a patient by a surgeon. A focusing method by using two laser spots is proposed to automatically move the needle tip to a surgery entry point on the skin. A dynamics model is developed to control the position of the needle mechanism and an explicit force control strategy is utilized to perform the needle insertion. Findings With the surgical system, a surgeon can easily perform puncture operation by taking two orthogonal real-time X-ray images as a visual feedback and accurately navigating the needle insertion. The laser-guided focusing method is efficient in placement of the needle tip. The explicit force control strategy is proved to be effective for holding constant and stable puncture force in experiments. Originality/value The robotic arm has an advantage in easy redirection of the needle because the rotation and the translation are decoupled in the mechanism. By adopting simple laser pens and a well-developed kinematics model, the system can handle the entry point, locating task automatically. The focusing method and the force control method proposed in the paper are useful for the present system and could be intuitive for similar surgical robots.

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Palpacelli, Matteo, Luca Carbonari, Giacomo Palmieri und Massimo Callegari. „Design of a Lockable Spherical Joint for a Reconfigurable 3-URU Parallel Platform“. Robotics 7, Nr. 3 (02.08.2018): 42. http://dx.doi.org/10.3390/robotics7030042.

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This article deals with the functional and preliminary design of a reconfigurable joint for robotic applications. Such mechanism is a key element for a class of lower mobility parallel manipulators, allowing a local reconfiguration of the kinematic chain that enables a change in platform’s mobility. The mechanism can be integrated in the kinematic structure of a 3-URU manipulator, which shall accordingly gain the ability to change mobility from pure translation to pure rotation. As a matter of fact, special kinematics conditions must be met for the accomplishment of this task. Such peculiar requirements are described and properly exploited for the design of an effective reconfigurable mechanism. A detailed description of the joint operational principle is provided, also showing how to design it when is physically located at the fixed base of the manipulator.

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Kim, In, Kotaro Tadano, Takahiro Kanno und Kenji Kawashima. „Implementing pseudo haptic feedback in a semi-isometric master interface for robotic surgery“. International Journal of Advanced Robotic Systems 14, Nr. 5 (01.09.2017): 172988141773388. http://dx.doi.org/10.1177/1729881417733885.

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We have developed a master interface that uses an isometric velocity control technique for translation and an anisometric position control technique for rotation. Using the developed interface, the operator can concentrate on the slave side and control the robot without repositioning required in conventional master arm due to the workspace limitation. However, it cannot display haptic to the operator for the translation directions with the manipulator. In this article, we propose a method to feedback the external force on the slave side to the master manipulator without using actuators or link mechanism but using a pseudo haptic effect. A flexible wrist joint with a spring is used at the tip of the slave forceps to enhance visual effect. The spring stiffness is pneumatically controlled. At the same time, we change the reference velocity of the slave according to the external force applied to the slave manipulator. The changed velocity caused by the external force restrains the slave motion. Using both the visual feedback and the motion restrain, the master–slave system is able to display force to the operator as pseudo haptic feedback without actuators. Experiments of pulling suture threads are executed using the developed master–slave surgical robot. It is confirmed that the master–slave system with pseudo haptic feedback can decrease the variance of force.

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Higuchi, Mineo. „Development of a Human Symbiotic Assist Arm “PAS-Arm” (Basic Concept and Mechanism)“. Journal of Robotics and Mechatronics 24, Nr. 3 (20.06.2012): 458–63. http://dx.doi.org/10.20965/jrm.2012.p0458.

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We describe a new robotic assist device: a passive assist arm (PAS-Arm). PAS-Arms are intended for direct physical interaction with a human operator, handling a shared payload. PAS-Arms are physically passive. Their purpose is not to enhance human strength, but to provide virtual guiding surfaces, which constrain and guide the motion of the payload within a shared workspace. PAS-Arms have three joints and a three dimensional workspace, but possesses only a two degrees of freedom, due to the reduction of degrees of freedom created by a combination of Continuously Variable Transmissions (CVTs) and differential gears. The combination of CVTs and differential gears places one mechanical constraint on three angular velocities of the joints. PAS-Arms have no joint actuators and no force sensors. Thus they are potentially well suited to safety and low cost. This paper proposes a basic concept of PAS-Arms and explains a principle and a construction of PAS-Arms. We discuss the relation of PAS-Arms to conventionally actuated robots and another type of assist arms. We also describe range of transmission ratio of CVTs.11. This paper is the full translation from the transactions of JSME, Series C, Vol.73, No.730, 2007.

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Saunders, Ben, Necati Cihan Camgoz und Richard Bowden. „Continuous 3D Multi-Channel Sign Language Production via Progressive Transformers and Mixture Density Networks“. International Journal of Computer Vision 129, Nr. 7 (07.05.2021): 2113–35. http://dx.doi.org/10.1007/s11263-021-01457-9.

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AbstractSign languages are multi-channel visual languages, where signers use a continuous 3D space to communicate. Sign language production (SLP), the automatic translation from spoken to sign languages, must embody both the continuous articulation and full morphology of sign to be truly understandable by the Deaf community. Previous deep learning-based SLP works have produced only a concatenation of isolated signs focusing primarily on the manual features, leading to a robotic and non-expressive production. In this work, we propose a novel Progressive Transformer architecture, the first SLP model to translate from spoken language sentences to continuous 3D multi-channel sign pose sequences in an end-to-end manner. Our transformer network architecture introduces a counter decoding that enables variable length continuous sequence generation by tracking the production progress over time and predicting the end of sequence. We present extensive data augmentation techniques to reduce prediction drift, alongside an adversarial training regime and a mixture density network (MDN) formulation to produce realistic and expressive sign pose sequences. We propose a back translation evaluation mechanism for SLP, presenting benchmark quantitative results on the challenging PHOENIX14T dataset and setting baselines for future research. We further provide a user evaluation of our SLP model, to understand the Deaf reception of our sign pose productions.

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Higuchi, Mineo. „Development of a Human Symbiotic Assist Arm “PAS-Arm” (Design of Mechanism · CVT and Experimental System)“. Journal of Robotics and Mechatronics 25, Nr. 1 (20.02.2013): 211–19. http://dx.doi.org/10.20965/jrm.2013.p0211.

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We describe a new robotic assist device: a passive assist arm (PAS-Arm). PAS-Arms are intended for direct physical interaction with a human operator, handling a shared payload. PAS-Arms are physically passive. Their purpose is not to enhance human strength, but to provide virtual guiding surfaces, which constrain and guide the motion of the payload within a shared workspace. PAS-Arms have three joints and a three-dimensional workspace, but possess only a two degrees of freedom, due to the reduction of degrees of freedom created by a combination of Continuously Variable Transmissions (CVTs) and differential gears. We have developed an experimental system of the PAS-Arm. In this paper, we describe kinematic specification of the experimental system. We discuss the differential relation of transmission ratios created by the CVTs. We conducted the relationship between transmission ratio resolutions of the CVTs and resolutions of normal vector of the virtual guiding surface, and the relationship between angular velocities of PAS-Arm’s joints and time derivative of the transmission ratios. Assuming that the Euclidean norm of the angular velocities is constant, maximum time derivative of transmission ratios is in proportion to link lengths of the PAS-Arm. We also describe the design of the CVT for use in the experimental system.1 1. This paper is the full translation from the transactions of JSME, Series C, Vol.75, No.749, pp. 104-112, 2009.

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Dissertationen zum Thema "Robotic translation mechanism"

Špaček, Matěj. „Návrh manipulátoru vzorku pro CCHM mikroskop“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444981.

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In the Laboratory of the Experimental Biophotonics at Brno University of Technology, a new generation of the Coherence-Controlled Holographic Microscope (CCHM) is being developed. Because of the automation of certain microscope procedures, a fully motorized three axis computer controlled manipulator of the sample is to be employed. A fast and accurate lateral positioning in a range of several centimeters is required. For the focusing capability, very precise positioning in the optical axes is required as well. Initially, the basics of microscope manipulator design are presented. Then, commercially available solutions are introduced and compared with special focus on its possible implementation in the new generation of CCHM. However, due to the specific design of the new CCHM, available manipulators are not suitable. Therefore, a new optimized manipulator design is introduced in the second part of the thesis. A selection of its appropriate elements, especially actuators, is based on a review. For the new manipulator design, a technical documentation was made and a testing software was developed. A crucial part of the manipulator was assembled and tested.

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Bücher zum Thema "Robotic translation mechanism"

Igor, Zeidis, und Behn Carsten, Hrsg. Mechanics of terrestrial locomotion: With a focus on non-pedal motion systems. Dordrecht: Springer, 2009.

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Zimmermann, Klaus, Igor Zeidis und C. Behn. Mechanics of Terrestrial Locomotion: With a Focus on Non-pedal Motion Systems. Springer, 2009.

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Zimmermann, Klaus, Igor Zeidis und Carsten Behn. Mechanics of Terrestrial Locomotion: With a Focus on Non-pedal Motion Systems. Springer, 2010.

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Buchteile zum Thema "Robotic translation mechanism"

Hsu, Kuan-Lun, und Yen-Nien Chen. „Disk Cam Mechanisms with a Translating Follower Having Double Oblique Flat Faces“. In Robotics and Mechatronics, 164–76. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-30036-4_14.

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Shen, Huiping, Tongzhu Yu, Jiaming Deng, Zheng Wang und Tingli Yang. „Topological Structure Synthesis of 3-Translation Parallel Mechanisms“. In Advances in Reconfigurable Mechanisms and Robots I, 269–84. London: Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-4141-9_25.

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Glazunov, V., N. Nosova und M. Ceccarelli. „Kinematics of a 6 DOFs Manipulator with Interchangeable Translation and Rotation Motions“. In Recent Advances in Mechanism Design for Robotics, 407–16. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-18126-4_39.

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Hernandez, A., Z. Zhang, V. Petuya, E. Macho und E. Amezua. „Translational Parallel Manipulator with Pa2 Kinematic Joints“. In New Advances in Mechanisms, Mechanical Transmissions and Robotics, 311–19. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-45450-4_31.

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Frisoli, A., D. Checcacci, F. Salsedo und M. Bergamasco. „Synthesis by Screw Algebra of Translating in-Parallel Actuated Mechanisms“. In Advances in Robot Kinematics, 433–40. Dordrecht: Springer Netherlands, 2000. http://dx.doi.org/10.1007/978-94-011-4120-8_45.

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Dostrašil, Pavel, und Aleš Richter. „Implementation of Manipulator with Rotary and Translational Axis Using Electronic Cams“. In New Advances in Mechanisms, Mechanical Transmissions and Robotics, 477–87. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-60076-1_43.

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Di Gregorio, Raffaele. „Position Analysis of a Novel Translational 3-URU with Actuators on the Base“. In New Advances in Mechanisms, Mechanical Transmissions and Robotics, 80–90. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-60076-1_8.

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Glazunov, Victor, und Sergey Kheylo. „Dynamics and Control of Planar, Translational, and Spherical Parallel Manipulators“. In Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots, 365–402. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-17683-3_15.

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Arsenault, Marc. „Computation of the interference-free wrench feasible workspace of a 3-DoF translational tensegrity robot“. In Mechanisms and Machine Science, 185–96. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-20751-9_16.

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Trevisani, Alberto. „Experimental Validation of a Trajectory Planning Approach Avoiding Cable Slackness and Excessive Tension in Underconstrained Translational Planar Cable-Driven Robots“. In Mechanisms and Machine Science, 23–39. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-31988-4_2.

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Konferenzberichte zum Thema "Robotic translation mechanism"

Chandrasekaran, Karthik, Adarsh Somayaji und Asokan Thondiyath. „Realization of a Statically Balanced Compliant Planar Remote Center of Motion Mechanism for Robotic Surgery“. In 2018 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dmd2018-6911.

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Robot assisted minimally invasive surgery helps overcome some of the limitations like limited dexterity, fulcrum effect, and lack of 3D vision in manual laparoscopic procedures [1]. A Remote Centre of Motion (RCM) mechanism is an essential part of tele-operated surgical robots. An RCM mechanism enables a rigid surgical tool to maintain a kinematic constraint about the insertion point on a patient’s body [2]. It permits a surgical tool to pivot only about the insertion point and prevents tool translation about the insertion point [3]. A parallelogram architecture based RCM mechanism is one of the most commonly used RCM mechanisms in surgical robots [4] due to its simplicity and large usable range of motion. Commercially available surgical robots such as da Vinci™ from Intuitive Surgical Inc. [5] use synchronous transmission [2] based passive RCM mechanism as a substitute for parallelogram based RCM.

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Zhang, Xiaoli, und Carl A. Nelson. „Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation“. In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49163.

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The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

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Moubarak, Paul M., Pinhas Ben-Tzvi, Zhou Ma und Eric J. Alvarez. „Kinematic Synthesis and Dynamic Analysis of the Dual-Rod Slider Rocker Mechanism: An Application to Modular Robotics“. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-71200.

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In mechanism theory and design, no work has been reported on the kinematic synthesis and dynamic analysis of the dual-rod slider rocker mechanism. By definition, this system is equivalent to two traditional slider-rocker mechanisms that share a common rocker, where the two sliders translate along two opposite directions of motion. Unlike a single slider-rocker mechanism, the dual-rod-based mechanism exhibits unique kinematic characteristics in which the two sliders do not travel the same distance for the same rocker rotation. This paper presents an optimal analysis that outlines the early investigations on the kinematic design and dynamic analysis of the dual-rod slider rocker mechanism. Because of the translation difference that exists between the two sliders, an expression for the relative position error is derived. This error is integrated as a cost function in an optimization problem which calculates the optimal rod length that allows the two sliders to meet terminal boundary conditions. These kinematics are validated experimentally through a case-study application in modular robotic docking.

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Kumar, Prashant, Wael Saab und Pinhas Ben-Tzvi. „Design of a Multi-Directional Hybrid-Locomotion Modular Robot With Feedforward Stability Control“. In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67436.

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This paper presents the design of a modular robot capable of multi-directional mobility to aid reconfiguration on uneven terrain. Modular reconfigurable robotic systems consist of a large number of self-sufficient modules that can dock and reconfigure to scale locomotion and manipulation capabilities. However, on uneven terrains, reconfigurable robots face challenges due to the requirement of precise alignment between modules during the docking procedure. First, a survey of current modular reconfigurable robots is presented, analyzing their strengths and shortcomings in reconfiguration and mobility. A novel design is formulated that features a hybrid combination of wheels and tracks, symmetrically assembled about the front and right planes, providing multi-directional mobility and modularity. The robot can move over uneven terrain via tracks, move at higher speeds via wheels placed orthogonally to the tracks, and move in the vertical direction via a vertical translation mechanism in order to aid in multi-robot docking. Both the wheels and tracks possess yaw mobility via differential drive. The design’s compact size and hybrid multi-directional mobility system make the robot highly mobile on uneven terrain. Presented in this paper are the mechanical and electrical design and a feedforward dynamic stability controller, the performance of which is validated using a simulated case study.

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Jiang, Xiaoling, und Clément Gosselin. „Dynamically Feasible Trajectories for Three-DOF Planar Cable-Suspended Parallel Robots“. In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34419.

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This paper proposes a trajectory planning technique for planar three-degree-of-freedom cable-suspended parallel robots. Based on the kinematic and dynamic modelling of the architecture, force constraints that can guarantee that cables remain under tension are obtained. Periodic parametric trajectories that extend beyond the static workspace are designed. The trajectories involve combined translations and rotations. Substituting the trajectories into the force constraints, interval arithmetics is used to search for global conditions on the trajectory parameters which ensure that the trajectories are feasible. Special frequencies related to combined rotational and translational motions are exposed which can be used to better exploit cable-suspended robots. Moreover, it is observed that the special frequencies related to the translation are akin to the natural frequency of pendulum-like systems. The proposed trajectory planning approach can be used to plan combined rotational and translational dynamic trajectories that can extend beyond the static workspace of the mechanism, thereby opening novel applications and possibilities for cable-suspended robots.

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Colbrunn, R. W., J. E. Dumpe, T. F. Bonner, J. D. Kolmodin, W. K. Barsoum und P. M. Saluan. „Robotically Simulated Clinical Pivot Shift: A Better Tool for Analyzing ACL Reconstructions?“ In ASME 2013 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/sbc2013-14288.

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A pivot shift is a useful exam for evaluating anterior cruciate ligament (ACL) reconstruction surgery. A positive result is a perceived “clunk” and is quantified by the kinematics that occur during the tibial reduction phase. In vitro evaluation of ACL reconstruction techniques includes robotic testing of cadaveric knees where the applied loads represent estimated in situ loads. Early understanding of the mechanism of the pivot shift has resulted in a simplified representation where static “rotary loads” (10Nm valgus torque, 5Nm internal tibial torque) are applied at a few discrete flexion angles, and changes in anterior tibial translation (ATT) are compared [1]. Building upon this work, and with advances in technology, we are now able to create a robotic test that is more like the clinical exam. Our hypothesis was that kinematics produced during the robotically simulated pivot shift would be similar to the clinical pivot shift but would be significantly different from the rotary loads method. The ability for a test to produce larger kinematic differences between native and deficient states may suggest a more robust methodology by which to evaluate the efficacy of ACL reconstructions.

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Behzadipour, Saeed, Robert Dekker, Amir Khajepour und Edmon Chan. „DeltaBot: A New Cable-Based Ultra High Speed Robot“. In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-41470.

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The growing needs for high speed positioning devices in the automated manufacturing industry have been challenged by robotic science for more than two decades. Parallel manipulators have been widely used for this purpose due to their advantage of lower moving inertia over the conventional serial manipulators. Cable actuated parallel robots were introduced in 1980’s to reduce the moving inertia even further. In this work, a new cable-based parallel robot is introduced. For this robot, the cables are used not only to actuate the end-effector but also to apply the necessary kinematic constraints to provide three pure translational degrees of freedom. In order to maintain tension in the cables, a passive air cylinder is used to push the end-effector against the stationary platform. In addition to low moving inertia, the new design benefits from simplicity and low manufacturing cost by eliminating joints from the robot’s mechanism. The design procedure and the results of experiments will be discussed in the following.

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Chen, Gong, Zhao Guo und Haoyong Yu. „Mechanical Design and Evaluation of a Novel Knee-Ankle-Foot Robot for Rehabilitation“. In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46229.

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This paper presents the mechanical design and evaluation of a knee-ankle-foot robot, which is compact, modular, and portable for stroke patients to carry out overground gait training at outpatient and home settings. The robot is driven by a novel series elastic actuator (SEA) for safe human-robot interaction. The SEA employs one soft translational spring in series with a stiff torsion spring to achieve high intrinsic compliance and the capacity of providing peak force. The robotic joint mechanism and the selection of the actuator springs are optimized based on gait biomechanics to achieve portability and capability. The robot demonstrated stable and accuracy force control in experiments conducted on healthy subjects with overground walking. Major leg muscles of the subjects showed reduced level of activations (Electromyography, EMG) while maintaining normal gait patterns with robotic assistances, indicating the robot’s capability of providing effective gait assistance.

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Chen, Samuel, und Marc Arsenault. „Workspace Computation and Analysis of a Planar 2-DoF Translational Tensegrity Mechanism“. In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28257.

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Tensegrity mechanisms are interesting candidates for high-acceleration robotic applications since their use of cables allows for a reduction in the weight and inertia of their mobile parts. In this work, a planar two-degree-of-freedom translational tensegrity mechanism that could be used for pick and place applications is introduced. The mechanism uses a strategic actuation scheme to generate the translational motion as well as to ensure that the cables remain taut at all times. Analytical solutions to the direct and inverse kinematic problems are developed and the mechanism’s workspace boundaries are computed in both the actuator and Cartesian spaces. The influence of the mechanism’s geometry on the size and shape of the Cartesian workspace are then studied. Based on workspace size only, it is found that the optimal mechanism geometry corresponds to a relatively large ratio between the length of the struts and the width of the base and end-effector.

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Jin, Qiong, und Ting-Li Yang. „Position Analysis for a Class of Novel 3-DOF Translational Parallel Robot Mechanisms“. In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/dac-21151.

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Abstract A class of new 3-DOF parallel robot mechanisms is investigated. Closed-formed solutions are developed for both the forward and inverse kinematics. Compared with known 3-DOF parallel robot mechanisms, these mechanisms are not only simple in structure with fewer solutions for position analyses but also decoupled. The mechanism decouplity, which is related to the topological characteristics, dimensional parameters, kinematic joint types and the choice of input-joints, is very useful for real control and path planning of parallel robots.

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