6 accepted papers
Continuum hyper-redundant manipulators (CHRMs) have been widely applied in aerospace, medical or other fields to complete tasks in narrow and multi-obstacles environments with its unique structural advantages. Due to the redundancy, the inverse kinematics of CHRMs is rather complex and the trajector
To date, soft robots have been increasingly designed and analyzed, especially, Soft Continuum Manipulators (SCMs). Due to dexterous deformability, their Inverse Kinematics (IK) is still difficult to solve. Cyclic Coordinate Descent (CCD) algorithm is one of the classical optimization algorithms to s…
Cable-Constrained Synchronous Rotating Mechanism (CCSRM) has an important application prospect in the field of cable-driven robots, which can greatly reduce the number of driving motors while ensuring the light and slender body. However, there are obvious cable friction effect and elastic deformatio
Continuum robots composed of elastic backbones have a broad application prospect in the narrow and restricted environment because they overcome the disadvantages of traditional articulated robots, such as being bulky and inflexible. Statics plays an important role in the planning and control of the…
In this paper, we study the effect of mechanical compliance on the impact force of human-robot interactions, more specifically the maximum impact force during a collision. Here we consider two methods of introducing compliance to industrial manipulators: joint compliance and link compliance. To comp…
In this article, we build dynamic models of 2D compliant links to evaluate injury level in a human-robot interaction. Safety is a premium concern for co-robotic systems. It has been studied that using compliant links in a robot can greatly reduce the injury level. Since most safety criteria are base…