5 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…
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…
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 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…