5 accepted papers
Special purpose compliant end-effectors are effective in realizing task-appropriate passive compliance. This paper presents a programmable, 3 -fingered, antagonistic, compliant hand (P3ACH) capable of realizing a desired compliant behavior within a large space of multidirectional compliant behaviors
This paper presents the design and performance of a planar 3R robot capable of dexterous constrained manipulation when interacting with a stiff environment. A novel variable stiffness actuator (VSA) having a stiffness ratio of approximately 500 is also described. Variable stiffness actuation, togeth…
In this letter, necessary conditions on the locations and orientations of elastic components in a compliant mechanism used to realize any given spatial compliance are identified. The topologies considered are either fully parallel or fully serial mechanisms having an arbitrary number of lumped elast
This paper identifies conditions for designing the appropriate spatial admittance to achieve reliable force-guided assembly of polyhedral parts for cases in which a single frictional contact occurs between the two parts. This work is an extension of previous work in which frictionless contact was co…
The high stiffness of conventional robots is beneficial in attaining highly accurate positioning in free space. High stiffness, however, limits a robot's ability to perform constrained manipulation. Because of the high stiffness, geometric conflict between the robot and task constraints during const…