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Keywords: optimal design
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Journal Articles

Design and Experiment of an Ankle Rehabilitation Robot After Fracture Surgery

Monan Ni, Jialin Liu, Zhenhui Sun, Tao Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121014.
Paper No: JMR-23-1569
https://doi.org/10.1115/1.4065392
Published Online: May 21, 2024
... established in detail using geometric method and screw theory. The coverage of the healthy ankle motion ability was formulated as an optimization problem to improve the robot's performance. Multi-objective optimal design was carried out to determine the dimensional parameters. The interference-free working...
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Topics: Design, Fracture (Materials), Fracture (Process), Kinematics, Robots, Engineering prototypes, Surgery, Screws
Journal Articles

A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators

Ziying Lin, Lingmin Xu, Ye Ding, Xiangyang Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041016.
Paper No: JMR-22-1382
https://doi.org/10.1115/1.4062304
Published Online: May 2, 2023
... redundancy optimal design China Postdoctoral Science Foundation 10.13039/501100002858 2021M702123 National Natural Science Foundation of China 10.13039/501100001809 51935010 52205023 In recent decades, parallel manipulators with two rotations and one translation (2R1T PMs...
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Topics: Design, Kinematics, Manipulators, Redundancy (Engineering), Stiffness, Actuators, Linkages, Mechanical admittance, Optimization
Journal Articles

Optimal Design of a 4-DOF SCARA Type Parallel Robot Using Dynamic Performance Indices and Angular Constraints

Songtao Liu, Tian Huang, Jiangping Mei, Xueman Zhao, Panfeng Wang, Derek G. Chetwynd
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2012, 4(3): 031005.
https://doi.org/10.1115/1.4006743
Published Online: July 9, 2012
...Songtao Liu; Tian Huang; Jiangping Mei; Xueman Zhao; Panfeng Wang; Derek G. Chetwynd This paper deals with the optimal design of a 4-DOF SCARA type (three translations and one rotation) parallel robot using dynamic performance indices and angular constraints within and amongst limbs...
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Topics: Design, Kinematics, Robots, Servomotors, Cycles