We present a planner for a robot to keep an object stable under a sequence of external forces. We assume a robot with multiple manipulators, with a gripper at the end of each manipulator. We make two key contributions: First, given an external force, we propose a method to check the feasibility of gripper placements on the object to resist the force. This method takes into account both the mani...

ANALYSIS OF SPHERICAL FIVE-BAR HINGED MANIPULATOR WITH TWO DEGREES OF FREEDOM AND DWELLS OF OUTPUT LINK. N. Davitashvili. “Problems of Mechanics”. Tbilisi, 2015, No 1(58), pp. 5-11, (Engl.). Is stated the kinematic study of spherical five-bar manipulator with two degrees of freedom. Are determined the positions, velocities and accelerations of output links, their points and gripper. The manipul...

The paper presents an optimal synthesis of overconstrained linkages, based on the factorization of rational curves contained in Study’s quadric. The group of Euclidean displacements is embedded in a affine space where a metric between motions based on the homogeneous mass distribution of the end effector is used to evolve the curves such that they are fitted to a set of target poses. In the end...

Bent and folded beam configurations have been popularly used in electrothermoelastic (E-T) actuation. This paper introduces new designs of thermal end-effector with micro-grasping and micro-heating capabilities. We obtained analytical models for all possible steady state temperature responses of suspended and overhanging microstructures that constitute bent beam, folded beam, and combined actua...

This article presents a performance measure, the actuation eficiency, which describes the imbalance between the end-effector accelerations achievable in different directions of non-redundant robotic manipulators. A key feature of the proposed measure is that in its development the unitam differences between linear and angular accelerations are treated in a physically meaningful manner. The memu...

This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions—linear sliding, pivoting, and rolling—that involve contacts between a gripper, a rigid object, and their environment. The evaluation is done through thousands of controlled experiments designed to capture ...

In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design modifications, and importantly, evaluate all designs on a grasping experiment involving a selection of objects resulting in 3600 object-gripper interactions. Interested in...

Robotica / Volume 33 / Issue 04 / May 2015, pp 747 767 DOI: 10.1017/S0263574714000538, Published online: 13 March 2014 Link to this article: http://journals.cambridge.org/abstract_S0263574714000538 How to cite this article: Masayuki Shimizu (2015). Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specied unconstrained orientation of end-effector. Robotica, 33, pp ...

This article presents a new performance meamre, the actuation eficiency, which describes isotropy in acceleration capability for non-redundant manipulators. It measures the imbalance between the end-effector accelerations achievable in different directions. Prior to this, no measurre of this characteriStic was adequate for a six dem-of-freedom manipulator, because its endeffector motions are re...

the objective of this study was to determine the protein pattern and antigenic structure of bhv-1. ten viral isolates from cows with clinical signs of respiratory infections were selected for this study and confirmed by sn test. all samples were cultured on cell cultures and purified by ultracentrifugation. purified isolates were electerophorsed using sds-page method and immunoblotted. viral an...