4 accepted papers
This paper introduces Model Q-II, an enhanced underactuated robotic hand designed to improve dexterous manipulation through expanded grasping modes and manipulation primitives. The Model Q-II incorporates tripod and enhanced power grasping modes, achieving increased versatility without adding additi
A kinematically redundant (6+3)-degree-of-freedom (DOF) hybrid parallel robot with an axisymmetric workspace is proposed. By arranging the first revolute joint of each leg such that they have the same rotation axis, this robot can achieve an axisymmetric workspace, resulting in a large reachable wor…
A novel kinematically redundant 6+1-degree-of-freedom (dof) spatial hybrid parallel robot is proposed. Each of the two legs of the robot has a fully parallel structure to minimize the moving inertia by mounting actuators on the base. The kinematic model of each leg and overall robot architecture is…
In this paper, we propose a new compact variable gravity compensation mechanism (CVGC). The CVGC can be used to generate gravity compensation torque by using the cam and lever mechanism and can also amplify the target gravity compensation torque by varying the pivot point of the lever. The feature o…