An open-access journal for theoretical and applied mechanics
Library of Delft University of Technology
Subscribe to alerts
Science Citation Index Expanded
World Public Library
Volume 8, issue 1
Mech. Sci., 8, 65-77, 2017
© Author(s) 2017. This work is distributed
under the Creative Commons Attribution 3.0 License.
Volume 8, issue 1
22 Mar 2017
Design and Modelling of a Cable-Driven Parallel-Series Hybrid Variable Stiffness Joint Mechanism for Robotics
Cihat Bora Yigit and Pinar Boyraz
Related subject area
Subject: Mechanisms and Robotics | Techniques and Approaches: Synthesis
General design equations for the rotational stiffness, maximal angular deflection and rotational precision of various notch flexure hinges
(15 Mar 2017)
Sebastian Linß, Philipp Schorr, and Lena Zentner
Mech. Sci., 8, 29-49, 2017
A structure design method for compliant parallel manipulators with actuation isolation
(30 Nov 2016)
Guangbo Hao and Xianwen Kong
Mech. Sci., 7, 247-253, 2016
Configuration synthesis of generalized deployable units via group theory
(15 Sep 2016)
Tuanjie Li, Jie Jiang, Hangjia Dong, and Lei Zhang
Mech. Sci., 7, 201-208, 2016
Towards developing product applications of thick origami using the offset panel technique
(07 Mar 2016)
Michael R. Morgan, Robert J. Lang, Spencer P. Magleby, and Larry L. Howell
Mech. Sci., 7, 69-77, 2016
A representation of the configurations and evolution of metamorphic mechanisms
(09 Feb 2016)
W. Zhang, X. Ding, and J. Liu
Mech. Sci., 7, 39-47, 2016
Synthesis of PR-/RP-chain-based compliant mechanisms – design of applications exploiting fibre reinforced material characteristics
(25 Aug 2015)
U. Hanke, E.-C. Lovasz, M. Zichner, N. Modler, A. Comsa, and K.-H. Modler
Mech. Sci., 6, 155-161, 2015
Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation
(04 Aug 2015)
W. Kraus, P. Miermeister, V. Schmidt, and A. Pott
Mech. Sci., 6, 119-125, 2015
Monolithic 2 DOF fully compliant space pointing mechanism
(02 Dec 2013)
E. G. Merriam, J. E. Jones, S. P. Magleby, and L. L. Howell
Mech. Sci., 4, 381-390, 2013
Designing hybrid flexure systems and elements using Freedom and Constraint Topologies
(01 Oct 2013)
J. B. Hopkins
Mech. Sci., 4, 319-331, 2013
Type synthesis of freedom and constraint elements for design of flexure mechanisms
(17 Jul 2013)
H.-J. Su and C. Yue
Mech. Sci., 4, 263-277, 2013
Understanding the drivers for the development of design rules for the synthesis of cylindrical flexures
(12 Apr 2012)
M. J. Telleria and M. L. Culpepper
Mech. Sci., 3, 25-32, 2012
Building block method: a bottom-up modular synthesis methodology for distributed compliant mechanisms
(28 Mar 2012)
G. Krishnan, C. Kim, and S. Kota
Mech. Sci., 3, 15-23, 2012
More articles (7)
Alici, G. and Shirinzadeh, B.
: Topology optimisation and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint, Mech. Mach. Theory, 39, 215–235, 2004.
Bennett, S. E., Schenk, R. J., and Simmons, E. D.
: Active range of motion utilized in the cervical spine to perform daily functional tasks, Clinical Spine Surgery, 15, 307–311, 2002.
Boyraz, P., Yigit, C. B., and Bicer, H. O.
: UMAY 1: A modular humanoid platform for education and rehabilitation of children with autism spectrum disorders, IEEE, 9th Asian Control Conference (ASCC), 1–6, 2013.
Cao, D. and Tucker, R. W.
: Nonlinear dynamics of elastic rods using the Cosserat theory: modelling and simulation, Int. J. Solids Struct., 45, 460–477, 2008.
Conrad, B. L., Jung, J., Penning, R. S., and Zinn, M. R.
: Interleaved continuum-rigid manipulation: An augmented approach for robotic minimally-invasive flexible catheter-based procedures, IEEE International Conference on Robotics and Automation (ICRA), 718–724, 2013.
Ferrario, V. F., Sforza, C., Serrao, G., Grassi, G., and Mossi, E.
: Active range of motion of the head and cervical spine: a three-dimensional investigation in healthy young adults, J. Orthop. Res., 20, 122–129, 2002.
Gao, B., Xu, J., Zhao, J., and Xi, N.
: Combined inverse kinematic and static analysis and optimal design of a cable-driven mechanism with a spring spine, Adv. Robotics, 26, 923–946, 2012a.
Gao, B., Xu, J., Zhao, J., Xi, N., Shen, Y., and Yang, R.
: A humanoid neck system featuring low motion-noise, J. Intell. Robot. Syst., 67, 101–116, 2012b.
Gravagne, I. A., Rahn, C. D., and Walker, I. D.
: Large deflection dynamics and control for planar continuum robots, IEEE/ASME Transactions on Mechatronics, 8, 299–307, 2003.
Grioli, G., Wolf, S., Garabini, M., Catalano, M., Burdet, E., Caldwell, D., Carloni, R., Friedl, W., Grebenstein, M., Laffranchi, M., Lefeber, D., Stramigioli, S., Tsagarakis, N., van Damme, M., Vanderborght, B., Albu-Schaeffer, A., and Bicchi, A.
: Variable stiffness actuators: The user's point of view, Int. J. Robot. Res., 34, 727–743, 2015.
Ham, R. V., Sugar, T. G., Vanderborght, B., Hollander, K. W., and Lefeber, D.
: Compliant actuator designs, IEEE Robot. Autom. Mag., 16, 81–94, 2009.
Hollander, K. W., Sugar, T. G., and Herring, D. E.
: Adjustable robotic tendon using a “jack spring”, in: Rehabilitation Robotics, IEEE, 9th International Conference on ICORR 2005, 113–118, 2005.
Jones, B. A. and Walker, I. D.
: Kinematics for multisection continuum robots, IEEE T. Robot., 22, 43–55, 2006.
Kim, J. S., Jeong, J. H., and Park, J. H.
: Inverse kinematics and geometric singularity analysis of a 3-SPS/S redundant motion mechanism using conformal geometric algebra, Mech. Mach. Theory, 90, 23–36, 2015.
Leech, A. R.
: A study of the deformation of helical springs under eccentric loading, PhD thesis, Naval Postgraduate School, Monterey, California, 1994.
Lim, W., Yeo, S., Yang, G., and Mustafa, S.
: Kinematic analysis and design optimization of a cable-driven universal joint module, in: Advanced Intelligent Mechatronics, IEEE/ASME International Conference on AIM 2009, 1933–1938, 2009.
Lim, W. B., Yang, G., Yeo, S. H., and Mustafa, S. K.
: Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation, Service Robots and Robotics: Design and Application: Design and Application, p. 274, IGI Global, Hershey PA, 2012.
Liu, X.-J., Wang, J., and Pritschow, G.
: A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability, Mech. Mach. Theory, 40, 475–494, 2005.
Mizuuchi, I., Tajima, R., Yoshikai, T., Sato, D., Nagashima, K., Inaba, M., Kuniyoshi, Y., and Inoue, H.
: The design and control of the flexible spine of a fully tendon-driven humanoid “Kenta”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 3, 2527–2532, 2002.
Nori, F., Jamone, L., Sandini, G., and Metta, G.
: Accurate control of a human-like tendon-driven neck, IEEE, 7th IEEE-RAS International Conference on Humanoid Robots, 371–378, 2007.
Potkonjak, V., Svetozarevic, B., Jovanovic, K., and Holland, O.
: The puller-follower control of compliant and noncompliant antagonistic tendon drives in robotic systems, Int. J. Adv. Robot. Syst., 8, 143–155, 2011.
: Spatial continuum models of rods undergoing large deformation and inflation, IEEE T. Robot., 29, 297–307, 2013.
Vanderborght, B., Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M., Eiberger, O., Friedl, W., Ganesh, G., Garabini, M., Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N., Van Damme, M., Van Ham, R., Visser, L. C., and Wolf, S.
: Variable impedance actuators: A review, Robot. Auton. Syst., 61, 1601–1614, 2013.
Walker, I. D.
: Continuous backbone “continuum” robot manipulators, ISRN Robotics, 2013, 726506, doi:10.5402/2013/726506, 2013.
Wendlandt, J. M. and Sastry, S. S.
: Design and control of a simplified Stewart platform for endoscopy, Proceedings of the 33rd IEEE Conference on Decision and Control, 1, 357–362, 1994.
Woehrmann, M., Doerbaum, M., Ponick, B., and Mertens, A.
: Design of a fully actuated electromagnetic bending actuator for endoscopic applications, in: Innovative Small Drives and Micro-Motor Systems, GMM/ETG Symposium, 9, 1–6, 2013.
Yang, G., Lin, W., Pham, C., and Yeo, S. H.
: Kinematic design of a 7-DOF cable-driven humanoid arm: a solution-in-nature approach, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Proceedings, 444–449, 2005.
More articles (22)
A new joint mechanism design is presented in this study which has a potential use in robotics, particularly in humanoid robot designs, because of its variable stiffness characteristics, lightweight and remotely-actuated structure. A helical spring inside the mechanism brings compliance which increases the safety. The spring is analyzed with a method proposed in the paper and verified by FEM. The kinematic and the dynamic models are obtained and experimentally validated.
A new joint mechanism design is presented in this study which has a potential use in robotics,...