Approximating Constrained Hand Paths Via Kinematic Synthesis with Contact Specifications

Moon, Hyosang; Robson, Nina; Langari, Reza

doi:10.1007/978-3-319-06698-1_39

Cited by 5 publications

(4 citation statements)

References 10 publications

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“…Screw System I ID: From the ∞ condition for the three pitches, we conclude that θ i , i = 1, 2, 3 is 0, and from Equation (10) we conclude that…”

Section: Proofs Of Feasibilitymentioning

confidence: 91%

“…Screw System I IB: In this system, Equation (10) provides that s z = 0, and Equation (11) turns to h(s…”

Section: Proofs Of Feasibilitymentioning

confidence: 99%

“…First-and second-order derivatives can describe contact conditions in the synthesis problem [10], associating first-and second-order kinematics to curvatures and forces at the points of contact [11]. So far, this identification has mainly been used for the design of robotic hands.…”

Section: Introductionmentioning

confidence: 99%

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Mixed Position and Twist Space Synthesis of 3R Chains

Hassanzadeh

Pérez-Gracia

2022

Robotics

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Mixed-position kinematic synthesis is used to not only reach a certain number of precision positions, but also impose certain instantaneous motion conditions at those positions. In the traditional approach, one end-effector twist is defined at each precision position in order to achieve better guidance of the end-effector along a desired trajectory. For one-degree-of-freedom linkages, that suffices to fully specify the trajectory locally. However, for systems with a higher number of degrees of freedom, such as robotic systems, it is possible to specify a complete higher-dimensional subspace of potential twists at particular positions. In this work, we focus on the 3R serial chain. We study the three-dimensional subspaces of twists that can be defined and set the mixed-position equations to synthesize the chain. The number and type of twist systems that a chain can generate depend on the topology of the chain; we find that the spatial 3R chain can generate seven different fully defined twist systems. Finally, examples of synthesis with several fully defined and partially defined twist spaces are presented. We show that it is possible to synthesize 3R chains for feasible subspaces of different types. This allows a complete definition of potential motions at particular positions, which could be used for the design of precise interaction with contact surfaces.

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“…Screw System I ID: From the ∞ condition for the three pitches, we conclude that θ i , i = 1, 2, 3 is 0, and from Equation (10) we conclude that…”

Section: Proofs Of Feasibilitymentioning

confidence: 91%

“…Screw System I IB: In this system, Equation (10) provides that s z = 0, and Equation (11) turns to h(s…”

Section: Proofs Of Feasibilitymentioning

confidence: 99%

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Mixed Position and Twist Space Synthesis of 3R Chains

Hassanzadeh

Pérez-Gracia

2022

Robotics

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“…As mentioned earlier, to further inspire creativity, during the Fall 2016 semester the faculty developed new interactive cross-disciplinary research driven projects and lectures with the main goal of improving students' critical thinking, responsibility for their own learning and intellectual growth. The new activities related to the faculty on-going research in the areas of Biomechanics [31][32][33][34][35][36][37][38][39][40][41][42][43][44][45] and Biochemistry [46][47][48][49] are detailed below.…”

Section: Mechanical Design Project 1: Model a Rover-arm System Able Tmentioning

confidence: 99%

Incorporating Bio-Related Integrated Research in Undergraduate Kinematics of Mechanisms Course

Robson¹,

Rasche²,

Ahir³

et al.

2017 ASEE Annual Conference &Amp; Exposition Proceedings

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The paper describes part of our efforts to develop curricula specifically designed to challenge engineering students to cross boundaries and solve problems in different disciplines. Specifically, the paper discusses results of introducing faculty ongoing research in the areas of human and protein kinematics into a junior mechanical engineering Kinematics of Mechanisms course, with the main goal of preparing the students to be critical thinkers, cross-disciplinary problem solvers and lifelong learners. In the paper the term "integrated research" is used to refer to all categories of research involving integrated multiple disciplines. The Kinematics of Mechanisms is a lecture course which presents knowledge on the analysis, design and construction of mechanical systems, such as serial and parallel linkages, cams and gear systems and robot manipulators, to name a few. During the Fall 2016 semester, new experiences in the form of interactive activities, including research projects were developed and incorporated within the course. These activities were specifically designed to enhance the students' knowledge of how the above-mentioned mechanical systems appear in other domains, such as Biomechanics and Biochemistry with the goal of giving the students the opportunity to not only cross boundaries, but also integrate and use current knowledge in their own area to solve research problems in other disciplines. Results related to the three desired learning outcomes (critical thinking, intellectual maturity, and responsibility for own learning) were assessed through anonymous surveys. The results were based on students' as well as faculty perception. Part of the assessment was indirect and required the students to outline questions that they were asking themselves while working on each project. A comparison between the results from two sections of the class, both taught during the Fall 2016 semester, one with and one without the incorporated new activities, showed that presenting a series of multidisciplinary projects designed specifically to complement each other, improves students' critical thinking, intellectual maturity, and responsibility for their own learning. The intellectual growth was the category that improved the most, based on students' and faculty perception. In addition, the difference in students' performance on the project content and presentation between the two sections resulted in a difference of about 20%. This shows that the developed methods prove efficient not only for learning new material, but also in transferring learned skills to tasks of greater difficulty, i.e. interdisciplinary activities that are not necessarily within the typical mechanical engineering kinematics of mechanisms domain. The idea of enhancing a junior mechanism kinematics course with research activities related to application of gained knowledge in different domains is novel and provides interesting and promising perspectives, showing that such activities increase the students' knowledge and interest in learning, and at the sa...

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Motion Capture

Robson¹

2021

Encyclopedia of Robotics

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Approximating Constrained Hand Paths Via Kinematic Synthesis with Contact Specifications

Cited by 5 publications

References 10 publications

Mixed Position and Twist Space Synthesis of 3R Chains

Mixed Position and Twist Space Synthesis of 3R Chains

Incorporating Bio-Related Integrated Research in Undergraduate Kinematics of Mechanisms Course

Motion Capture

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