Deployable parallel lower-mobility manipulators with scissor-like elements

Yang, Yi; Peng, Yan; Pu, Huayan; Chen, Haijun; Ding, Xilun; Chirikjian, Gregory S.; Lyu, Shengnan

doi:10.1016/j.mechmachtheory.2019.01.013

Cited by 41 publications

(6 citation statements)

References 48 publications

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“…Folding-based actuators are effective at reducing the space consumed by the mechanism. Various methods of folding-based manipulation include rigid links with conventional joints (Danko et al, 2015;Yang et al, 2019), cylindrical components or bands wrapped around a reel (Bellicoso et al, 2015), and origamiinspired designs (Kim, Lee, et al, 2018). The main limitation, however, To solve this problem, the authors designed a variable tendon path which consists of a curved slit path on the locking mechanism.…”

Section: Foldable Manipulatormentioning

confidence: 99%

Autonomous aerial robotics for package delivery: A technical review

Saunders

Saeedi

2023

Journal of Field Robotics

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Small unmanned aerial vehicles (UAVs) have gained significant interest in the last decade. More specifically these vehicles have the capacity to impact package delivery logistics in a disruptive way. This paper reviews research problems and state‐of‐the‐art solutions that facilitate package delivery. Different aerial manipulators and grippers are listed along with control techniques to address stability issues. Landing on a platform is next discussed which encompasses static and dynamic platforms. Landing on a dynamic platform presents further challenges. This includes delayed control responses and poor precision of the relative motion between the platform and the aerial vehicle. Subsequently, risks such as weather conditions, state estimation, and collision avoidance to ensure safe transit is considered. Finally, delivery UAV routing is investigated which categorizes the topic into two areas: drone operations and drone–truck collaborative operations. Additionally, we compare the solutions against design, environmental, and legal constraints.

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Section: Foldable Manipulatormentioning

confidence: 99%

Autonomous aerial robotics for package delivery: A technical review

Saunders

Saeedi

2023

Journal of Field Robotics

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“…The replacement of machine elements is also relatively straightforward. In contrast, issues such as massive linkages and singularity due to parallel linkages may exist in ordinary parallel robots[ 44 ]. Zhu et al .…”

Section: In Situ Bioprinting Modalitiesmentioning

confidence: 99%

Robotic-assisted automated in situ bioprinting

Dong¹,

Hu²,

Zhang³

et al. 2022

IJB

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In situ bioprinting has emerged as a promising technology for tissue and organ engineering based on the precise positioning of living cells, growth factors, and biomaterials. Rather than traditional in vitro reconstruction and recapitulation of tissue or organ models, the in situ technology can directly print on specific anatomical positions in living bodies. The requirements for biological activity, function, and mechanical property in an in vivo setting are more complex. By combining progressive innovations of biomaterials, tissue engineering, and digitalization, especially robotics, in situ bioprinting has gained significant interest from the academia and industry, demonstrating its prospect for clinical studies. This article reviews the progress of in situ bioprinting, with an emphasis on robotic-assisted studies. The main modalities for in situ three-dimensional bioprinting, which include extrusion-based printing, inkjet printing, laser-based printing, and their derivatives, are briefly introduced. These modalities have been integrated with various custom-tailored printers (i.e., end effectors) mounted on robotic arms for dexterous and precision biofabrication. The typical prototypes based on various robot configurations, including Cartesian, articulated, and parallel mechanisms, for in situ bioprinting are discussed and compared. The conventional and most recent applications of robotic-assisted methods for in situ fabrication of tissue and organ models, including cartilage, bone, and skin, are also elucidated, followed by a discussion on the existing challenges in this field with their corresponding suggestions.

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“…Gogu [16] mentioned a variety of parallelogram subchains with variable rod lengths in his work and pointed out that such chains can increase the working space or improve the accuracy of the mechanism under different circumstances. In 2018, Yang [17,18] proposed a new type of retractable parallelogram subchain, analyzed 3T, 3T1R, and 3R mechanisms compounded by different combinations of this type of subchains, verified their feasibility, and piloted a planar 2T mechanism for automatic docking devices. In 2019, Yang [19] proposed a scalable parallelogram branched chain composed of collapsible kinematic chains, and based on the collapsibility of the branched chain, the authors discussed the potential application of the mechanism on UAVs, but its mechanical analysis and singularity analysis were complicated by the fact that the branched chain consisted of kinematic chains.…”

Section: Introductionmentioning

confidence: 99%

Kinematics Analysis and Simulation of a Novel 3T Parallel Mechanism

Huang

Wang

et al. 2022

Mathematical Problems in Engineering

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Three translational (3T) degree-of-freedom (DOF) parallel mechanism is widely used in the industrial field because of its compact structure and excellent dynamic performance. Combined with the 3T parallel mechanism studied at this stage, a novel 3T parallel mechanism is proposed. Firstly, the DOF of the mechanism is analyzed by using the screw theory. Secondly, the position, velocity, and singularity of the mechanism are analyzed, and the workspace of the mechanism is analyzed through the positive position solution. Then, the trajectory planning in joint space and coordinate space is completed, and a common mathematical model of grasping trajectory is established. Thirdly, the kinematics simulation analysis of the mechanism is carried out. Finally, the prototype platform was built and the grasping experiment was carried out, which verified the rationality of the mechanism design and the correctness of the theoretical analysis.

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Deployable parallel lower-mobility manipulators with scissor-like elements

Cited by 41 publications

References 48 publications

Autonomous aerial robotics for package delivery: A technical review

Autonomous aerial robotics for package delivery: A technical review

Robotic-assisted automated in situ bioprinting

Kinematics Analysis and Simulation of a Novel 3T Parallel Mechanism

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