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Keywords: collision avoidance
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Journal Articles

A Nonlinear Stiffness Safe Joint Mechanism Design for Human Robot Interaction

Jung-Jun Park, Jae-Bok Song
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. June 2010, 132(6): 061005.
DOI: https://doi.org/10.1115/1.4001666
Published Online: May 25, 2010
... collision avoidance design elasticity human-robot interaction robot dynamics service robots springs (mechanical) nonlinear stiffness passive compliance physical human-robot interaction safety mechanism In recent years, service robots have received considerable attention. Because...
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Topics: Collisions (Physics), Robots, Safety, Springs, Stiffness, Torque, Design, Human-robot interaction, Displacement
Journal Articles

Self-Collision Detection in Spatial Closed Chains

John S. Ketchel, Pierre M. Larochelle
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. September 2008, 130(9): 092305.
DOI: https://doi.org/10.1115/1.2965363
Published Online: August 18, 2008
... , “ Collision Detection of Cylindrical Rigid Bodies for Motion Planning ,” Proceedings of the 2006 IEEE International Conference on Robotics and Automation, IEEE , New York. 22 12 2006 05 06 2008 18 08 2008 collision avoidance motion control robot kinematics...
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Topics: Collisions (Physics), Cylinders, Testing, Cylinder tests (Concrete), Chain
Journal Articles

Assembly Configurations of Planar Multi-Loop Mechanisms With Kinematic Limitations

David E. Foster, Raymond J. Cipra
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. July 2006, 128(4): 747–754.
DOI: https://doi.org/10.1115/1.2202143
Published Online: October 5, 2005
... examples. 20 05 2005 05 10 2005 couplings collision avoidance kinematics An assembly configuration (AC), or a circuit, of a mechanism is a set of contiguous positions that the mechanism can assume without disassembly. If one must disassemble the mechanism to get from one...
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Topics: Kinematics, Manufacturing, Collisions (Physics), Linkages
Journal Articles

The Design of a Chain of Spherical Stephenson Mechanisms for a Gearless Robotic Pitch-Roll Wrist

S. Hernandez, S. Bai, J. Angeles
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. March 2006, 128(2): 422–429.
DOI: https://doi.org/10.1115/1.2167653
Published Online: June 6, 2005
... , 24 ( 4 ), pp. 293 – 307 . 26 04 2005 06 06 2005 industrial manipulators cams (mechanical) couplings design manipulator dynamics collision avoidance spherical Stephenson mechanism dimensional synthesis nonlinear least-square optimization pitch-roll wrists...
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Topics: Design, Linkages, Chain, Robotics, Cams, Dimensions, Kinematics, Manipulators
Journal Articles

Omni-Directional Mobility Using Active Split Offset Castors

Haoyong Yu, Matthew Spenko, Steven Dubowsky
Journal: Journal of Mechanical Design
Article Type: Technical Papers
J. Mech. Des. September 2004, 126(5): 822–829.
DOI: https://doi.org/10.1115/1.1767181
Published Online: October 28, 2004
.... Yu, H., 2002, “Mobility Design and Control of Personal Mobility Aids for the Elderly,” Ph.D Thesis, Massachusetts Institute of Technology, Cambridge, MA. mobile robots collision avoidance motion control robot kinematics handicapped aids Computer controlled omni-directional mobile...
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Topics: Mechanical admittance, Wheels, Design, Kinematics