Dynamic balance eliminates the fluctuating reaction forces and moments induced by high-speed robots that would otherwise cause undesired base vibrations, noise accuracy loss. Many balancing procedures, such as addition of counter-rotating inertia wheels, increase complexity motor torques. There exist, however, a small set closed-loop linkages can be balanced specific design links' mass distribution, potentially leading to simpler cost-effective solutions. Yet, intricacy conditions hinder...

Abstract Flexure-based grippers offer an attractive alternative to conventional used in robotics and automation. However, most existing designs appear suffer from insufficient range of motion, loadability, support stiffness. This article presents approach obtain well-performing flexure hinges for compact anthropomorphic made via metal additive manufacturing. We propose a hinge architecture that achieves high motion despite the challenging combination small design space, Young’s modulus,...

The balancing of mechanisms consists in distributing their moving masses, inertias, and elastic components order to achieve key mechanical properties, such as the elimination shaking forces moments exported onto supporting structure or insensitivity mechanism gravity motions its chassis. This article introduces a new refined systematic taxonomy for classification multi-degree-of-freedom (DoF) 3-dimensional passively balanced mechanisms. is composed 15 distinct types – compared only 4...

SUMMARY Higher-order derivatives of kinematic mappings give insight into the motion characteristics complex mechanisms. Screw theory and its associated Lie group have been used to find these loop closure equations up an arbitrary order. In this paper, is extended higher-order solution provide approximation finite serial parallel This recursive algorithm, consisting solely matrix operations, relies on a simplified representation open chains. The method applied serial, multi-DOF parallel,...

Abstract Robotic manipulation in the agri-food industry faces several issues, including object variation, fragility and food safety. Underactuated flexure-based gripper allow passive adaptation to whilst monolithic flexure joints drive down cost, part-count, hygiene requirements, contamination wear. However, designing grippers presents challenges achieving sufficient support stiffness, load-bearing capacity joint deflection. Additionally, modeling non-linear behavior may become...

Dynamic balance has been studied to eliminate the shaking forces and vibration at base induced by rapid motion of robotic devices. This is done designing mass distribution such that total center mechanism stationary for all motions. However, when payload changes, example during pick-and-place action, dynamic cannot be maintained, vibrations will appear, reducing accuracy. In this paper, five strategies are described adapt under varying conditions. Three these rely on reconfiguration...

Abstract The design of grippers for the agro-industry is challenging. To be cost-effective, picked object should moved around fast requiring a firm grip on fruit different hardnesses, shapes, and sizes without causing damage. This paper presents self-adaptive flexure-based gripper optimized high acceleration loads. A main novelty that it actuated through push-pull flexure loaded in tension when closes, allowing to handle actuation forces risk buckling. create robust can relatively loads,...

Transcranial magnetic stimulation (TMS) is a noninvasive method to modify behaviour of neurons in the brain. TMS applied by running large currents through coil close scalp. For consistent results it required maintain position within millimetres targeted location, but natural head sway and practitioner fatigue may hinder this. Serial robots are currently used assist application TMS. However, their low stiffness limits performance high moving mass operating speeds for safety reasons. Since...

For the Delta robot, a high-speed parallel pick-and-place manipulator, base vibrations are significant problem. Especially since robot is suspended above its workpiece, it requires large, stiff, and heavy frame for fast accurate motions. Dynamic balancing of shaking forces moments known technique to reduce dynamic loads on surroundings. In this paper investigated how solely with partial force balancing, accuracy robot-like manipulator can be improved, considering also compliance frame. This...