Mechanism and Machine Science
Proceedings of ASIAN MMS 2016 & CCMMS 2016
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Article
Tactile-sensing-based robotic gras** stability analysis
Tactile signals play a crucial role in enabling robots to successfully manipulate unfamiliar objects. For robots to grasp unknown objects securely and without causing damage, it is essential that they can anal...
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Chapter and Conference Paper
An Adaptive Impedance Control Method for Human-Robot Interaction
In human-robot collaborative grinding tasks, the compliance of the robot to the operator is required, while the robot end effector is limited to a certain space to avoid danger. Therefore, an adaptive impedanc...
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Chapter and Conference Paper
A Method for Identifying Knee Joint Stiffness During Human Standing
During human-robot interaction, the robot should react according to the change in the human body state. The stiffness is one of the important information. It is closely related to the stability and comfort in ...
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Chapter and Conference Paper
A Novel Reconfigurable Compliant Mechanism with Adjustable Motion Direction and Multiple Motion Modes
Adjustable callus deformation can be beneficial for bone healing. Using many existing devices, it is still challenging to simultaneously realize adjustable callus-deformed mode and callus-deformed direction. T...
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Article
Novel torsional spring with corrugated flexible units for series elastic actuators for cooperative robots
Reasonable robot joint stiffness is necessary to guarantee the safety and control accuracy of cooperative robots. In this study, a novel flat torsional spring with corrugated flexible units for a series elasti...
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Chapter and Conference Paper
A Virtual Force Sensor for Robotic Manipulators Based on Dynamic Model
In human-robot interactions, a force sensor should be equipped in the robot to detect the force or torque to guarantee the safety of operators. However, mounting force sensors will increase the manufacturing c...
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Chapter and Conference Paper
Adaptive Gras** Strategy of Dexterous Hand Based on T-test
Tactile is an important feeling of human beings. When people grasp objects, they will determine the gras** force according to the properties of the objects. Through tactile, they can sense the slip** of ob...
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Chapter and Conference Paper
Design and Analysis of a Series Elastic Component Based on Topology Optimization
The series elastic component is the most critical component of the Series Elastic Actuator (SEA), which directly determines the performance of the SEA. SEA can ensures the safety of the operator during human-r...
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Chapter and Conference Paper
Dynamics Modeling of a 2-DOFs Mechanism with Rigid Joint and Flexible Joint
The integration of robot and human will become the essential feature of the new generation of robot. Therefore, higher requirements are required for the safety, positioning accuracy and real-time performance o...
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Book and Conference Proceedings
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Chapter and Conference Paper
A Dual-Camera Assisted Method of the SCARA Robot for Online Assembly of Cellphone Batteries
A dual-camera assisted method of the SCARA robot for online assembly of cellphone batteries is proposed, to solve the problem of low success rate of SCARA robot used for assembling cellphone battery. In this m...
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Chapter and Conference Paper
The Dynamics Modeling of Serial Robot with Joint Clearance Based on the Massless Link Method
A general and comprehensive dynamics modeling of serial robot with clearance in joint is presented throughout this work. The key point in this paper is to treat the joint clearance as a massless link, which di...
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Chapter and Conference Paper
A Robot Teaching Method Based on Motion Tracking with Particle Filter
Particle filters are being widely used in tracking single object for its unique advantages. According to former studies, particle filters can solve the tracking problems in the circumstances of nonlinear and n...
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Chapter and Conference Paper
Experiment Study of Positioning Accuracy for a SCARA Robot
Repeated positioning accuracy is an important index for robot manipulator. To improve the performance of the robot manipulator, the repeated positioning accuracy in the different locations of robot workspace s...
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Chapter and Conference Paper
Mechanism Design and Analysis for a Lightweight Manipulator Based on Topology Optimization Methods
In this paper we designed a lightweight manipulator which is installed on a kind of mobile robot—turtlebot. Firstly, we select the configuration of the robot. Then, we optimized the best mechanism of the robot...
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Chapter and Conference Paper
Kinematic Calibration and Vision-Based Object Gras** for Baxter Robot
In this paper, firstly, we analyze and compare four robot kinematic calibration methods for Baxter robot, including screw-axis measurement, extended kalman filtering, least squares method, integration of screw...
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Chapter and Conference Paper
Motion Planning of Robot Arm with Rotating Table for a Multiple-Goal Task
Motion planning of a manipulator system is important when using it to complete a task. In this study, we consider a manipulator system with a robot arm and a rotating table for a multiple-goal task. We first a...
