11 accepted papers
This paper presents a haptic device with a simple architecture of only two limbs that can provide translational motion in three degrees of freedom (DOF) and one-DOF rotational motion. Actuation redundancy eliminates all forward-kinematic singularities and improves the motion-force transmission prope…
This paper presents an underactuated robotic gripper that consists of three fingers. This gripper is driven by seven actuators and capable of grasping a wide range of objects in different working scenarios. A combination of a four-bar mechanism and parallelograms ensures that each finger can provide…
In this letter, we introduced a novel 2-DOF robotic wrist with a hollow channel. The proposed wrist was developed by stacking two symmetric 5R spatial manipulators using a reverse motion transmission mechanism. As a result, the proposed wrist mechanism has not only a wide workspace, but also a huge
A spherical two-degree-of- freedom wrist adapting the structure of the spatial parallelogram is proposed. A U type extended link out of three UU type limbs of the spatial parallelogram is selected as an output link. As a result, the wrist can be interpreted as being formed by combination of a U type…
This paper presents a 3-DOF linkage-driven underactuated finger for achieving several different grasp modes. This finger mechanism is constructed by stacking one five-bar mechanism over one double parallelogram. This special architecture allows for installing all of the actuators on the base. A 2-fi…
In this study, we aim at grasping a single target object in a cluttered environment using a robotic arm. While dexterous grasp for various shapes of objects is not considered in this work, we focus on developing the method to mitigate clutter near the target object as soon as quickly. For this purpo…
Inspired by the human upper extremity, a musculoskeletal dual-arm manipulator is designed for light machining tasks such as hammering and sawing. We claim that musculoskeletal structure has the advantage over conventional robot structures in terms of less internal impulsive forces while performing t
This letter presents design and analysis of two new foldable mechanisms without parasitic motion. These two PU-equivalent mechanisms have no parallel singularities in the feasible workspace excluding the boundary together with the simple or unique closed-form forward kinematic solutions. Kinematic p
This letter presents the advantages of human-like closed-chain architecture through the analytical computation of internal impulses experienced at joints and external impulses felt at the end point of the human-like manipulator during interaction with environment. The proposed human-like architectur
This paper presents the robotic hammering task performed by single arm and dual arm. In order to analyze optimal hammering task, the analytical model of external and internal impulses are taken as the measure. Desired hammering task implies that the hammer simultaneously exerts maximum external impu…
This paper presents the kinematic modeling and analysis of a gravity balanced 3T1R parallel mechanism with actuation redundancy. The screw theory is employed for Jacobian derivation and singularity analysis. Actuation redundancy is introduced to eliminate forward kinematic singularities. Moreover, t…