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Journal articles on the topic 'Robotic translation mechanism'

Author: Grafiati

Published: 28 June 2021

Last updated: 29 July 2025

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1

Li, Peng Hui, and Rong Ye Li. "The Kinematic Analysis of the Walking Mechanism Based on the Leg-Wheel Mobile Robot." Advanced Materials Research 694-697 (May 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

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2

Godoy, Jorge Curiel, Ignacio Juárez Campos, Lucia Márquez Pérez, and Leonardo Romero Muñoz. "Nonanthropomorphic exoskeleton with legs based on eight-bar linkages." International Journal of Advanced Robotic Systems 15, no. 1 (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

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3

Beira, R., L. Santos-Carreras, G. Rognini, H. Bleuler, and R. Clavel. "Dionis: A Novel Remote-Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery." Applied Bionics and Biomechanics 8, no. 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

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4

Choi, Jueun, Sangeun Park, Young-Hak Kim, Youngjin Moon, and Jaesoon Choi. "A Vascular Intervention Assist Device Using Bi-Motional Roller Cartridge Structure and Clinical Evaluation." Biosensors 11, no. 9 (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

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Palpacelli, Matteo, Luca Carbonari, Giacomo Palmieri, and Massimo Callegari. "Design of a Lockable Spherical Joint for a Reconfigurable 3-URU Parallel Platform." Robotics 7, no. 3 (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 re

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Elsamanty, Mahmoud, Ehab M. Faidallah, Yehia H. Hossameldin, et al. "Workspace Analysis and Path Planning of a Novel Robot Configuration with a 9-DOF Serial-Parallel Hybrid Manipulator (SPHM)." Applied Sciences 13, no. 4 (2023): 2088. http://dx.doi.org/10.3390/app13042088.

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The development of serial or parallel manipulator robots is constantly increasing due to the need for faster productivity and higher accuracy. Therefore, researchers have turned to combining both mechanisms, sharing the advantage from serial to parallel or vice versa. This paper proposes a new configuration design for a serial-parallel hybrid manipulator (SPHM) using the industrial robotic KUKA Kr6 R900 and 3-DOF parallel spherical mechanism. The Kr6 R900 has six degrees of freedom (6-DOF) divided into three joints for translation (x, y, z) and another three joints for orientation (A, B, C) of

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Zhou, Chunlin, Huifeng Wu, Xiang Xu, Yong Liu, Qi Zhu, and Shuwen Pan. "Development and control of a robotic arm for percutaneous surgery." Assembly Automation 37, no. 3 (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

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Michel, Guillaume, Philippe Bordure, and Damien Chablat. "A New Robotic Endoscope Holder for Ear and Sinus Surgery with an Integrated Safety Device." Sensors 22, no. 14 (2022): 5175. http://dx.doi.org/10.3390/s22145175.

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In the field of sinus and ear surgery, and more generally in microsurgery, the surgeon is faced with several challenges. The operations are traditionally carried out under binocular loupes, which allows for the surgeon to use both hands for a microinstrument and an aspiration tool. More recently, the development of endoscopic otological surgery allowed for seeing areas that are difficult to access. However, the need to handle the endoscope reduces the surgeon’s ability to use only one instrument at a time. Thus, despite anaesthesia, patient motions during surgery can be very risky and are not

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9

Kim, In, Kotaro Tadano, Takahiro Kanno, and Kenji Kawashima. "Implementing pseudo haptic feedback in a semi-isometric master interface for robotic surgery." International Journal of Advanced Robotic Systems 14, no. 5 (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

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10

Shi, Hu, Zhixin Liang, Boyang Zhang, and Haitao Wang. "Design and Performance Verification of a Novel RCM Mechanism for a Minimally Invasive Surgical Robot." Sensors 23, no. 4 (2023): 2361. http://dx.doi.org/10.3390/s23042361.

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Minimally invasive surgical robots have the advantages of high positioning accuracy, good stability, and flexible operation, which can effectively improve the quality of surgery and reduce the difficulty for doctors to operate. However, in order to realize the translation of the existing RCM mechanism, it is often necessary to add a mobile unit, which is often bulky and occupies most space above the patient’s body, thus causing interference to the operation. In this paper, a new type of planar RCM mechanism is proposed. Based on this mechanism, a 3-DOF robotic arm is designed, which can comple

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Sun, Huimin, Yilin Zhang, Honglin Sun, and Kenji Hashimoto. "Refined Prior Guided Category-Level 6D Pose Estimation and Its Application on Robotic Grasping." Applied Sciences 14, no. 17 (2024): 8009. http://dx.doi.org/10.3390/app14178009.

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Estimating the 6D pose and size of objects is crucial in the task of visual grasping for robotic arms. Most current algorithms still require the 3D CAD model of the target object to match with the detected points, and they are unable to predict the object’s size, which significantly limits the generalizability of these methods. In this paper, we introduce category priors and extract high-dimensional abstract features from both the observed point cloud and the prior to predict the deformation matrix of the reconstructed point cloud and the dense correspondence between the reconstructed and obse

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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, no. 3 (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) a

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Saunders, Ben, Necati Cihan Camgoz, and Richard Bowden. "Continuous 3D Multi-Channel Sign Language Production via Progressive Transformers and Mixture Density Networks." International Journal of Computer Vision 129, no. 7 (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 m

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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, no. 1 (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

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Higuchi, Mineo, and Tsukasa Ogasawara. "Development of a Human Symbiotic Assist Arm “PAS-Arm” (Experimental System and Creation of Virtual Guiding Surfaces)." Journal of Robotics and Mechatronics 25, no. 2 (2013): 285–93. http://dx.doi.org/10.20965/jrm.2013.p0285.

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We describe a new robotic assist device: the passive assist arm (PAS-Arm). PAS-Arms are intended for direct physical interaction with a human operator. PASArms are physically passive. The force to manipulate the arm end must be provided by the operator. Their purpose is not to enhance human strength, but to provide virtual guiding surfaces that constrain and guide the motion of the operator. PAS-Arms have three joints and a three dimensional workspace, but possess only two degrees of freedom due to the reduction of degrees of freedom created by a combination of Continuously Variable Transmissi

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16

Yigit, Cihat Bora, and Pinar Boyraz. "Design and Modelling of a Cable-Driven Parallel-Series Hybrid Variable Stiffness Joint Mechanism for Robotics." Mechanical Sciences 8, no. 1 (2017): 65–77. http://dx.doi.org/10.5194/ms-8-65-2017.

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Abstract. The robotics, particularly the humanoid research field, needs new mechanisms to meet the criteria enforced by compliance, workspace requirements, motion profile characteristics and variable stiffness using lightweight but robust designs. The mechanism proposed herein is a solution to this problem by a parallel-series hybrid mechanism. The parallel term comes from two cable-driven plates supported by a compression spring in between. Furthermore, there is a two-part concentric shaft, passing through both plates connected by a universal joint. Because of the kinematic constraints of the

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17

Ullah, Zahid, Thachapan Sermsrisuwan, Khemwutta Pornpipatsakul, Ronnapee Chaichaowarat, and Witaya Wannasuphoprasit. "High-Transparency Linear Actuator Using an Electromagnetic Brake for Damping Modulation in Physical Human–Robot Interaction." Journal of Sensor and Actuator Networks 13, no. 5 (2024): 65. http://dx.doi.org/10.3390/jsan13050065.

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Enhancing the transparency of high-transmission-ratio linear actuators is crucial for improving the safety and capability of high-force robotic systems having physical contact with humans in unstructured environments. However, realizing such enhancement is challenging. A proposed solution for active body weight support systems involves employing a macro–mini linear actuator incorporating an electrorheological-fluid brake to connect a high-force unit with an agile, highly back-drivable unit. This paper introduces the use of an electromagnetic (EM) brake with reduced rotor inertia to address thi

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18

Yamaguchi, Kent T., Edward C. Cheung, Keith L. Markolf, et al. "Effects of Anterior Closing Wedge Tibial Osteotomy on Anterior Cruciate Ligament Force and Knee Kinematics." American Journal of Sports Medicine 46, no. 2 (2017): 370–77. http://dx.doi.org/10.1177/0363546517736767.

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Background: A certain percentage of patients undergoing anterior cruciate ligament (ACL) reconstruction will experience graft failure, and there is mounting evidence that an increased posterior tibial slope (PTS) may be a predisposing factor. Theoretically, under tibiofemoral compression force (TFC), a reduced PTS would induce less anterior tibial translation (ATT) and lower ACL force. Hypothesis: Ten-degree anterior closing wedge osteotomy of the proximal tibia will significantly reduce ACL force and alter knee kinematics during robotic testing. Study Design: Controlled laboratory study. Meth

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Zhang, Ziwei, and Guoying Meng. "Design and analysis of a six degrees of freedom serial–parallel robotic mechanism with multi-degree of freedom legs." International Journal of Advanced Robotic Systems 15, no. 6 (2018): 172988141881264. http://dx.doi.org/10.1177/1729881418812643.

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A novel mobile serial–parallel mechanism with legs for in-pipe use is proposed. The mobile robotic mechanism is composed of two identical three-universal joint–prismatic joint–universal joint parallel mechanisms connected in series and two gripping modules. The proposed parallel mechanism has two rotational freedoms and one translational freedom. In addition, the parallel mechanism can achieve continuous and equivalent rotation. The singularities of the parallel mechanism are analyzed. The overall serial–parallel mechanism has six degrees of freedom, and each gripping module has four degrees o

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Filippov, Gleb S., Konstantin A. Shalyukhin, Gagik V. Rashoyan, Viktor A. Glazunov, Sergey A. Skvortsov, and Alexandr K. Aleshin. "PARALLEL MANIPULATOR MECHANISM FOR USE IN ROBOTIC SURGERY." Technologies & Quality 51, no. 1 (2021): 46–51. http://dx.doi.org/10.34216/2587-6147-2021-1-51-46-51.

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The article examines the mechanisms of parallel and parallel-sequential structure, including specific translational-guides, flat, spherical mechanisms of a parallel structure with three degrees of freedom, modifications of Delta robots from various manufacturers. The most famous studies of robots of parallel-serial structure are presented. Mazor Renaissance and Mazor X robotic systems for robotic assistance during spinal surgery are examined. The method of synthesis of mechanisms of parallel-serial structure with five degrees of freedom is briefly presented. Examples of synthesised schemes of

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COMANESCU, ADRIANA, DORU BOBLEA, and ANTONIA ONACA. "Bi-mobile planar mechanisms for robotics obtained through inverse modelling." Romanian Journal of Technical Sciences - Applied Mechanics 69, no. 1 (2024): 45–74. http://dx.doi.org/10.59277/rjts-am.2024.1.03.

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Bi-mobile planar mechanisms are commonly used in various fields of robotics. By adding additional degrees of mobility (rotation and/or translation) to the basis, multi-mobile systems for manipulators or pedipulators (legs) found in various fields are obtained. The paper aims to highlight these mechanisms using bi-mobile planar kinematic linkages described in the classical literature of mechanism theory [1‒5,16,17,23,25] in which the basis and the effector are nominated by inverse modelling [8‒12,13,15]. The effector extremity of such mechanism may describe any trajectory in its field. This is

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Laryushkin, Pavel, Anton Antonov, Alexey Fomin, and Victor Glazunov. "Novel Reconfigurable Spherical Parallel Mechanisms with a Circular Rail." Robotics 11, no. 2 (2022): 30. http://dx.doi.org/10.3390/robotics11020030.

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The COVID-19 pandemic has placed unprecedented stress on the world healthcare system and demonstrated the need for modern automated robotic solutions for numerous medical applications. Often, robots that provide spherical motion of the end-effector are used in this area. In this paper, we discuss a spherical mechanism with a circular rail and provide several possible variations of the design: spherical robots with three or four legs and 4-DOF robots with an additional translational DOF, including a decoupled mechanism. The screw theory is used to analyze the mobility of the discussed mechanism

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Garin, O. A., S. V. Kheylo, and A. K. Poletika. "EXPERIMENTAL RESEARCH THE MECHANISMS WITH SIX DEGREES OF FREEDOM." Spravochnik. Inzhenernyi zhurnal, no. 304 (July 2022): 10–14. http://dx.doi.org/10.14489/hb.2022.07.pp.010-014.

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Synthesis and research of parallel mechanisms is one of the robotics trend. The work is devoted to the design and experimental study of the parallel mechanism with a constant gear ratio with six degrees of freedom. The drives can provide a ratio of 1:1 with the movement of the output link. The presented mechanism can have wide possibilities of application in industries. The mechanism contains six drives and six kinematic chains. This mechanism has the property of kinematic decoupling of translational and rotational movements. The paper considers the physical model of the mechanism, shows its c

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Nguyen, Tong Thien, Hieu Thi Hong Le, and Hien Thi Ngoc Nguyen. "2-D AERODYNAMIC MODEL OF INSECT FLYING MECHANISM FOR ROBOTIC APPLICATION." Science and Technology Development Journal 12, no. 14 (2009): 95–107. http://dx.doi.org/10.32508/stdj.v12i14.2344.

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Two-dimensional aerodynamic models of unsteady flapping wing motions are analyzed with focus on advanced rotation and the wing's rotation axis to explain the force peak at the end of each half stroke. In this model, the translational velocity of the wing along the stroke plane is constant for most of the time except near end and the beginning of each stroke where it slows down to zero and then speeds up again for the next stroke. The flapping wing motions with various combination of controlled translational and rotational velocity of the wings along horizontal or inclined stroke planes with st

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Zhang, Dan, and Bin Wei. "Interactions and Optimizations Analysis between Stiffness and Workspace of 3-UPU Robotic Mechanism." Measurement Science Review 17, no. 2 (2017): 83–92. http://dx.doi.org/10.1515/msr-2017-0011.

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Abstract The interactions between stiffness and workspace performances are studied. The stiffness in x, y and z directions as well as the workspace of a 3-UPU mechanism are studied and optimized. The stiffness of the robotic system in every single moveable direction is measured and analyzed, and it is observed that in the case where one tries to make the x and y translational stiffness larger, the z directional stiffness will be reduced, i.e. the x and y translational stiffness contradicts with the one in z direction. Subsequently, the objective functions for the summation of the x and y trans

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Ф.Ф., Хабибуллин, Исламов Р.Т. та Хабибуллина Л.Ф. "АНАЛИЗ ПАРАМЕТРОВ ОШИБКИ ПОЛОЖЕНИЯ, ПЕРЕМЕЩЕНИЯ ИДЕАЛЬНОГО И РЕАЛЬНОГО МЕХАНИЗМА ДЛЯ РОБОТОТЕХНИЧЕСКИХ СИСТЕМ". Проблемы машиностроения и автоматизации, № 1-2024 (15 жовтня 2024): 36–43. http://dx.doi.org/10.52261/02346206_2024_1_36.

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Рассмотрены наиболее часто применяемые при конструировании механизмов элементы кинематических пар. Представлены возможные первичные ошибки для точки, линии, плоскости, шаровой пары, поступательной пары, вращательной пары. Проведен расчет числа первичных ошибок шатуна с элементами двух вращательных пар. Проведены расчеты относительно кулачкового механизма. Представлены рекомендации по определению первичных ошибок в механизмах робототехнических систем. The elements of kinematic pairs most often used in the design of mechanisms are considered. Possible primary errors for a point, line, plane, sph

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Hutyria, S. S., and V. V. Vovk. "PARAMETRIC FAILURES AND RATIONAL ALLOCATION RELIABILITY OF ROBOT MACHINE SUBSYSTEMS." Key title: Zbìrnik naukovih pracʹ Odesʹkoï deržavnoï akademìï tehnìčnogo regulûvannâ ta âkostì, no. 2(21) (2022): 34–41. http://dx.doi.org/10.32684/2412-5288-2022-2-21-34-41.

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The article deals with the issues of parametric failures of the mechanisms of the parallel structure of robotic machines. The variety of functions performed by robots has led to the creation of machine tools with mechanisms of a parallel structure. The basis for creating a line of robotic machines with three telescopic rods is the structure of a tripod with a vertical stand of constant length, hinged to the bed and the center of the movable platform. The central passive kinematic chain blocks the scrolling of the movable platform with the executive body around its own axis, perceives workloads

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Enescu, Monica Loredana, and Cătălin Alexandru. "Modeling and Simulation of A 6 Dof Robot." Advanced Materials Research 463-464 (February 2012): 1116–19. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1116.

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The purpose of this paper is to model and simulate a 6 DOF robotic system with revolute joints. This is in order to optimize the motion law which results in uniform coating deposited by spray pyrolysis. The structure and the complexity of the robotic system are determined by the necessary movements in the spray pyrolysis process. The nozzle (end-effector of the robot manipulator) has two translations, in longitudinal and transversal direction relative to the surface deposition. The mechanical model of the robot mechanism was developed by using the MBS (Multi Body Systems) environment ADAMS of

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Xie, Fugui, Xin-Jun Liu, and Tiemin Li. "Type Synthesis and Typical Application of 1T2R-Type Parallel Robotic Mechanisms." Mathematical Problems in Engineering 2013 (2013): 1–12. http://dx.doi.org/10.1155/2013/206181.

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This paper focuses on the 1T2R-type (T: translational DOF; R: rotational DOF) parallel robotic mechanisms (PKMs) and discusses their type synthesis and typical application in five-axis machine tools. Based on Grassmann line geometry and atlas method, a systematic method dealing with the type synthesis of lower mobility PKMs is introduced. The Blanding rules and generalized Blanding rules, which are the criterions in realizing the mutual conversion between the freedom-space atlas and the constraint-space atlas, are summarized and discussed in detail. Thereafter, the entire procedure of the type

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Kheylo, S. V., O. A. Garin, S. V. Palochkin, and S. D. Dorofeev. "THE PROPERTIES OF THE MECHANISMS WITH SIX DEGREES OF FREEDOM." Spravochnik. Inzhenernyi zhurnal, no. 288 (March 2021): 28–33. http://dx.doi.org/10.14489/hb.2021.03.pp.028-033.

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Parallel mechanisms analysis and design are the main trends of advance robotic engineering. This article is devoted to the novel parallel mechanisms with six degrees of freedom. The presented mechanisms can be applied in additive technologies, robotic–assisted surgery. The proposed mechanisms contain six drives and six kinematic chains. They have the properties of a partial kinematic decoupling, which allows realized separately translational and rotational movements. The presented mechanisms is a simple kinematic scheme. The drives can provide a ratio 1:1 of with the movement of the output lin

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Fujie, Hiromichi, Takeshi Sekito, and Akiyuki Orita. "A Novel Robotic System for Joint Biomechanical Tests: Application to the Human Knee Joint." Journal of Biomechanical Engineering 126, no. 1 (2004): 54–61. http://dx.doi.org/10.1115/1.1644567.

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The objectives of the work reported in this article were to develop a novel 6-degree-of-freedom (DOF) robotic system for knee joint biomechanics, to complete a hybrid force-position control scheme, to evaluate the system performance, and to demonstrate a combined loading test. The manipulator of the system utilizes two mechanisms; the upper mechanism has two translational axes and three rotational axes while the lower mechanism has only a single translational axis. All axes were driven with AC servo-motors. This unique configuration results in a simple kinematic description of manipulator moti

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Chen, Z. H., Y. B. Zhang, and K. M. Wang. "Design and Analysis of a Novel Planar Translational Parallel Robotic Mechanism with Three Limbs." IOP Conference Series: Materials Science and Engineering 646 (October 17, 2019): 012004. http://dx.doi.org/10.1088/1757-899x/646/1/012004.

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Le, Quoc-Viet, and Gayong Shim. "Biorobotic Drug Delivery for Biomedical Applications." Molecules 29, no. 15 (2024): 3663. http://dx.doi.org/10.3390/molecules29153663.

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Despite extensive efforts, current drug-delivery systems face biological barriers and difficulties in bench-to-clinical use. Biomedical robotic systems have emerged as a new strategy for drug delivery because of their innovative diminutive engines. These motors enable the biorobots to move independently rather than relying on body fluids. The main components of biorobots are engines controlled by external stimuli, chemical reactions, and biological responses. Many biorobot designs are inspired by blood cells or microorganisms that possess innate swimming abilities and can incorporate living ma

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Seregin, A. A., D. S. Blinov, and K. V. Marusich. "A PRIORI METHOD FOR EVALUATING THE KINEMATIC ACCURACY OF BALL SCREW GEARS." Spravochnik. Inzhenernyi zhurnal, no. 300 (March 2022): 29–34. http://dx.doi.org/10.14489/hb.2022.03.pp.029-034.

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Helical gears are the most common type of drive that converts rotational motion into translational motion. Ball screw gears are the most widely used in precision instruments and machine tools. Currently, the issue of improving the reliability of the drive containing a ball screw transmission, according to the parameter “kinematic accuracy”, is relevant. The method of probabilistic estimation of the aftereffect of screw gears is considered. The method is based on the results of the analysis of the functioning of the transmission parts, followed by the synthesis of a model of the accuracy of scr

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Guo, Lei, Zeyu Wang, Yuan Song, Xianjie Shan, and Dongming Gan. "Structural optimization of a new type of lever-assisted gear reducer based on a genetic algorithm." Mechanical Sciences 12, no. 1 (2021): 333–43. http://dx.doi.org/10.5194/ms-12-333-2021.

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Abstract. Gear reducers are critical for speed and torque transmissions between motors and manipulators. With the development of robotic research, many new requirements, such as low speed and heavy load, have been proposed for the design of gear reducers used in the joints. To meet these challenges, here, we present the design of a new gear reducer based on a spherical motion sub-lever drive mechanism. Our lever-based gear reducer can transmit the speed and torque from the input shaft to the output shaft through a fixed-axis gear train transmission, lever transmission, and internal translation

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Srivastava, MV Padma. "Restorative Therapies after Stroke: Drugs, Devices and Robotics." Annals of the National Academy of Medical Sciences (India) 53, no. 01 (2017): 051–65. http://dx.doi.org/10.1055/s-0040-1712745.

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ABSTRACTRestorative therapies aim to improve outcome and function by promoting plasticity within a therapeutic time window between days to weeks to years. In this article, the mechanisms by which cell-based, pharmacological and robotic treatments stimulate endogenous brain remodelling after stroke, particularly neurogenesis, axonal plasticity and white-matter integrity are described with a brief outline of the potential of neuroimaging (fMRI) techniques. Stem cells aid stroke recovery via mechanisms depending on the type of cells used. Transplanted embryonic stem cells (ESCs), induced pluripot

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Zhuang, Zhengyu. "Advancements in EEG-Based Brain-Computer Interface Integrations for Stroke Rehabilitation." Applied and Computational Engineering 106, no. 1 (2024): 167–73. http://dx.doi.org/10.54254/2755-2721/106/20241113.

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Stroke is a leading cause of long-term disability, hindering mobility and independence. Traditional rehabilitation methods may not fully address the diverse needs of stroke survivors, prompting the exploration of advanced technologies such as Brain-Computer Interfaces (BCIs) to enhance rehabilitation performance. The works highlights the integration of Electroencephalogram (EEG)-based BCIs with functional electrical stimulation (FES), sensory stimulation technologies like augmented reality (AR) and virtual reality (VR), and robotic systems. These integrations demonstrate potential in enhancing

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Afschrift, Maarten, Friedl De Groote, and Ilse Jonkers. "Similar sensorimotor transformations control balance during standing and walking." PLOS Computational Biology 17, no. 6 (2021): e1008369. http://dx.doi.org/10.1371/journal.pcbi.1008369.

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Standing and walking balance control in humans relies on the transformation of sensory information to motor commands that drive muscles. Here, we evaluated whether sensorimotor transformations underlying walking balance control can be described by task-level center of mass kinematics feedback similar to standing balance control. We found that delayed linear feedback of center of mass position and velocity, but not delayed linear feedback from ankle angles and angular velocities, can explain reactive ankle muscle activity and joint moments in response to perturbations of walking across protocol

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Chung, Y. S., M. Griffis, and J. Duffy. "Repeatable Joint Displacement Generation for Redundant Robotic Systems." Journal of Mechanical Design 116, no. 1 (1994): 11–16. http://dx.doi.org/10.1115/1.2919335.

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This paper presents a novel, practical, and theoretically sound kinematic control strategy for serial redundant manipulators. This strategy yields repeatability in the joint space of a serial redundant manipulator whose end effector undergoes some general cyclic type motion. This is accomplished by deriving a new inverse kinematic equation that is based on springs being theoretically or conceptually located in the joints of the manipulator (torsional springs for revolute joints, translational springs for prismatic joints). Previous researchers have also derived an inverse kinematic equation fo

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Xue, Feiyang, Zhengjun Fang, Jiahao Song, Qi Liu, and Shuofei Yang. "A New Method for Displacement Modelling of Serial Robots Using Finite Screw." Machines 12, no. 9 (2024): 658. http://dx.doi.org/10.3390/machines12090658.

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Kinematics is a hot topic in robotic research, serving as a foundational step in the synthesis and analysis of robots. Forward kinematics and inverse kinematics are the prerequisite and foundation for motion control, trajectory planning, dynamic simulation, and precision guarantee of robotic manipulators. Both of them depend on the displacement models. Compared with the previous work, finite screw is proven to be the simplest and nonredundant mathematical tool for displacement description. Thus, it is used for displacement modelling of serial robots in this paper. Firstly, a finite-screw-based

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Zhou, Dongbo, Kotaro Tadano, and Daisuke Haraguchi. "Motion Control and External Force Estimation of a Pneumatically Driven Multi-DOF Robotic Forceps." Applied Sciences 10, no. 11 (2020): 3679. http://dx.doi.org/10.3390/app10113679.

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Robotic forceps with a rigid-link joint mechanism is orthodox for current robotic-assisted surgery systems. However, external force estimation without force sensors during operations is difficult for such electrically driven forceps. This work introduces a pneumatically driven multi-DOF (DOF: degree of freedom) forceps using a rigid-link mechanism with less interference of the wire drive between joints and realizes external force estimation by utilizing high back-drivability of pneumatic cylinders. We developed a position controller with dynamic compensation of the mechanical friction, in whic

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Chen, Siqing, He Xu, Xueyu Zhang, Tian Jiang, and Zhen Ma. "Inversion of Biological Strategies in Engineering Technology: A Case Study of the Underwater Soft Robot." Biomimetics 10, no. 6 (2025): 362. https://doi.org/10.3390/biomimetics10060362.

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Bio-inspired design, a paradigm-shifting methodology that translates evolutionary mechanisms into engineering solutions, has established itself as a cornerstone for pioneering innovation in multifaceted technological systems. Despite its promise, the inherent complexity of biological systems and interdisciplinary knowledge gaps hinder the effective translation of biological principles into practical engineering solutions. This study introduces a structured framework integrating large language models (LLMs) with a function–behavior–characteristic–environment (F-B-C-E) paradigm to systematize bi

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Macario-Rojas, Alejandro, Ben Parslew, Andrew Weightman, and Katharine Lucy Smith. "CLOVER Robot: A Minimally Actuated Jumping Robotic Platform." Machines 10, no. 8 (2022): 640. http://dx.doi.org/10.3390/machines10080640.

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Robots have been critical instruments to exploration of extreme environments by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex and cluttered terrain. However, among the engineering challenges that need to be addressed to enable sustained operation of jumping robot concepts in extreme environments, the reduction of mechanical failure modes is one of the most fundamental. This study sets out to develop a jumping robot design, with a focus on a minimal actuation to support reduced mechanism maintenance and thus limit

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Parvin, Nargish, Sang Woo Joo, Jae Hak Jung, and Tapas Kumar Mandal. "Electroactive Polymers for Self-Powered Actuators and Biosensors: Advancing Biomedical Diagnostics Through Energy Harvesting Mechanisms." Actuators 14, no. 6 (2025): 257. https://doi.org/10.3390/act14060257.

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Electroactive polymers (EAPs) have emerged as versatile materials for self-powered actuators and biosensors, revolutionizing biomedical diagnostics and healthcare technologies. These materials harness various energy harvesting mechanisms, including piezoelectricity, triboelectricity, and ionic conductivity, to enable real-time, energy-efficient, and autonomous sensing and actuation without external power sources. This review explores recent advancements in EAP-based self-powered systems, focusing on their applications in biosensing, soft robotics, and biomedical actuation. The integration of n

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Nagai, Takashi, Hiroshi Yokoi, and Yukinori Kakazu. "SMA-Net: A Deformable Morphology Robot Using Shape Memory Alloy." Journal of Robotics and Mechatronics 14, no. 3 (2002): 290–97. http://dx.doi.org/10.20965/jrm.2002.p0290.

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Deformation of morphology is one goal of advanced robotics design research. This study started from a project of the development of a morph-functional machine, where the developmental study of a deformable robot which can behave like an ameba, is one of the main topics. This paper proposes the prototype design of a deformable morphology robot based on the lattice structure of elastic elements, shape memory alloy springs. The proposed structure of SMA-Net has both passively deformable functionality and active deformability. The functions of deformability of SMA-Net give new concepts of robotics

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Priyanka, Das. "Design and Fabrication of a low cost Remotely Operated Underwater Vehicle for underwater exploration." International Journal of Innovative Research in Engineering & Multidisciplinary Physical Sciences 7, no. 2 (2019): 1–6. https://doi.org/10.5281/zenodo.14259436.

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Robotic systems and remotely operated mechanisms have gained increased application in the past years. Such systems are extensively used to replace or reduce human effort wherever possible. This paper aims at the design considerations and methodology used in manufacturing of a low-cost inhouse underwater remotely operated vehicle (ROV). The ROV can be used for inspection of underwater structures, pipelines and fishery cages, equipped with a camera and a Raspberry Pi board that can relay a live video feed from the ROV’s perspective. Minimal number of DC motors fitted with propellors are us

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Staicu, Stefan. "Recursive modelling in dynamics of Delta parallel robot." Robotica 27, no. 2 (2009): 199–207. http://dx.doi.org/10.1017/s0263574708004451.

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SUMMARYRecursive matrix relations in kinematics and dynamics of a Delta parallel robot having three revolute actuators are established in this paper. The prototype of the manipulator is a three degrees-of-freedom space mechanism, which consists of a system of parallel closed kinematical chains connecting to the moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each robot's element. Further, the inverse dynamic problem is solved using an approach based on the fundamental princ

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Knowles, Thomas C., Anna G. Summerton, James G. H. Whiting, and Martin J. Pearson. "Ring Attractors as the Basis of a Biomimetic Navigation System." Biomimetics 8, no. 5 (2023): 399. http://dx.doi.org/10.3390/biomimetics8050399.

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The ability to navigate effectively in a rich and complex world is crucial for the survival of all animals. Specialist neural structures have evolved that are implicated in facilitating this ability, one such structure being the ring attractor network. In this study, we model a trio of Spiking Neural Network (SNN) ring attractors as part of a bio-inspired navigation system to maintain an internal estimate of planar translation of an artificial agent. This estimate is dynamically calibrated using a memory recall system of landmark-free allotheic multisensory experiences. We demonstrate that the

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Zhauyt, Algazy, Janat Musayev, Inna Bazanova, and Koldasbay Mustapaev. "Equations of motion for the rigid and elastic double pendulum using Lagrange’s equations." Vibroengineering Procedia 58 (May 15, 2025): 154–60. https://doi.org/10.21595/vp.2025.25010.

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The double pendulum is a well-known system exhibiting nonlinear dynamics and chaotic behavior. This study extends the conventional rigid double pendulum by introducing elastic extensions in the links, leading to a system known as the elastic double pendulum. The mathematical model incorporates both rotational and translational motion, accounting for elastic deformations using Hooke’s Law. The governing equations are derived using Lagrangian mechanics, considering both gravitational and spring potential energy contributions. Numerical simulations are performed to compare the motion of the elast

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Yan, Liang, Lei Zhang, Nan Yao, Zong Xia Jiao, I. Ming Chen, and Chin Yin Chen. "Design and Analysis of Tubular Linear Machines with Dual Halbach Arrays." Applied Mechanics and Materials 284-287 (January 2013): 667–71. http://dx.doi.org/10.4028/www.scientific.net/amm.284-287.667.

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Linear machines are widely employed in robotics, transportation and manufacturing industries because complex rotation-to-translation conversion mechanism is no longer required. This paper proposed a novel tubular linear machine with dual permanent magnet (PM) Halbach arrays to achieve high force output performance. Based on Lorentz force law, the magnetic force output and force ripple for three-phase winding linear machine is formulated in analytical way. By taking advantage of the analytical models, the force output is simulated with respect to the motion of the mover. Numerical result is the

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