A novel 2-DOF planar translational mechanism composed by scissor-like elements

Yang, Yi; Tian, Yaping; Peng, Yan; Pu, Huayan

doi:10.5194/ms-8-179-2017

Cited by 19 publications

(6 citation statements)

References 22 publications

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“…The C-SLE is a popular mechanism for robotic end-effector design. Yang et al [21] presented a 2-DoF planar translational mechanism based on SLE-parallel -a mechanism consisting of two identical SLE limbs which are connected at the two corresponding nodes by link. Corinaldi et al [22] proposed 3-DoF deployable gripper mechanism using SLEs and Sarrus linkages, which has a spatial structure to transmit motion symmetrically.…”

Section: B Robotic End-effector Designmentioning

confidence: 99%

A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies

Hu,

Wan,

Koyama

et al. 2020

Preprint

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This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping motion of 2-finger parallel grippers into a continuous rotation to realize tasks like fastening screws. The essential structure of the tool comprises a Scissor-Like Element (SLE) mechanism and a double-ratchet mechanism. They together convert repeated linear motion into continuous rotating motion. At the joints of the SLE mechanism, elastic elements are attached to provide resisting force for holding the tool as well as for producing torque output when a gripper releases the tool. The tool is entirely mechanical, allowing robots to use the tool without any peripherals and power supply. The paper presents the details of the tool design, optimizes its dimensions and effective stroke lengths, and studies the contacts and forces to achieve stable grasping and screwing. Besides the design, the paper develops manipulation policies for the tool. The policies include visual recognition, picking-up and manipulation, and exchanging tooltips. The developed tool produces clockwise rotation at the front end and counter-clockwise rotation at the back end. Various tooltips can be installed at both two ends. Robots may employ the developed manipulation policies to exchange the tooltips and rotating directions following the needs of specific fastening or loosening tasks. Robots can also reorient the tool using pickand-place or handover, and move the tool to work poses using the policies. The designed tool, together with the developed manipulation policies, are analyzed and verified in several realworld applications. The tool is small, cordless, convenient, and has good robustness and adaptability.

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Section: B Robotic End-effector Designmentioning

confidence: 99%

A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies

Hu,

Wan,

Koyama

et al. 2020

Preprint

View full text Add to dashboard Cite

show abstract

“…Planar multilink mechanisms are widely applied in engineering, such as mechanical press, agricultural equipment, medical apparatus and instruments, and precision instrument [1][2][3][4]. Translational and revolute joints are important parts to connect each component of planar multilink mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Responses of Planar Multilink Mechanism considering Mixed Clearances

Chen

Jiang

Deng

2020

Shock and Vibration

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Translational and revolute joints are the main kinds of joints in planar multilink mechanisms. Translational and revolute clearance joints have great influence on dynamical responses of planar mechanisms. Most research studies mainly focused upon revolute clearance of planar mechanisms based upon the modified Coulomb friction model, some studies investigated clearance of the pinslot joint, and few studies researched mixed clearances (considering both translational clearance and revolute clearance) based on the LuGre friction model. Dynamic response of the 2-DOF nine-bar mechanism considering mixed clearances based on the LuGre model is investigated in this work. e dynamic model with mixed clearances is built by the Lagrange multipliers. Dynamic responses including motion output of the slider, driving torques, contact forces, shaft center trajectories at revolute clearance pairs, and slider trajectory inside the guide are analyzed, respectively. Influences of different friction models on dynamic responses are studied, such as LuGre and modified Coulomb's friction models. Effects of different clearance values and different driving speeds on dynamic responses with mixed clearances are both analyzed. Virtual prototype model considering mixed clearances is carried out through ADAMS to verify correctness.

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“…Deployable structures are not only widely used in the fields of aerospace engineering (Langbecker, 1999; Xu and Guan, 2013) and mechanical engineering (Yang et al, 2017) but also increasingly used in architectural engineering (Escrig et al, 1996; Hoberman, 1990). As a result, studies on such structures are increasing, and research methods are becoming more mature (Chen et al, 2017; Hangai, 1981; Pellegrino and Calladine, 1986).…”

Section: Introductionmentioning

confidence: 99%

Experimental and numerical studies on the deployment process of self-locking cuboid foldable structural units

Zhao

2020

Advances in Structural Engineering

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Structural units are the basic components of self-locking foldable grid structures, and their spatial configurations have a vital influence on the structural performance of the overall grid. Research on the deployment process of structural units can help effectively control their stress level and achieve a rational self-locking capability for the units. Therefore, this article describes experimental and modeling studies on the deployment process of structural units and provides a reference for the establishment of numerical models and the design of structural units. The experimental results revealed that the self-locking capability of a structural unit is mainly determined by the bending moments of its members in the planes of the scissor-like elements. The method for adjusting the locations of the pivot endpoints at the radial bars is effective for improving the self-locking capacity, but the degree of adjustment must be strictly controlled to prevent large rotation at the inner lower hub joint. In addition, the feasibility of the modeling method was verified by comparing the experimental curves with the curves obtained by theoretical models.

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A novel 2-DOF planar translational mechanism composed by scissor-like elements

Cited by 19 publications

References 22 publications

A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies

A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies

Dynamic Responses of Planar Multilink Mechanism considering Mixed Clearances

Experimental and numerical studies on the deployment process of self-locking cuboid foldable structural units

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