...; or storing energy and utilizing it for performing explosive tasks. The major challenge with variable stiffness actuators is to control their position and stiffness simultaneously to achieve optimal task performance. In this paper, we present an end-of-arm variable stiffness mechanism (VSM) for performing...

... on constrained optimization, this article presents the construction of generalized Miura-ori patterns that can approximate three-dimensional parametric surfaces of varying curvatures while preserving the inherent properties of the standard Miura-ori, including developability, flat foldability, and rigid...

...N. A. Stravopodis; V. C. Moulianitis This paper proposes a method for optimizing rectilinear tasks on a 3 degrees-of-freedom (DoF) modular serial metamorphic manipulator. The overall experimental process was designed in order for theoretical assumptions and previous experimental results, regarding...

... and increase the output power efficiency. Therefore, a novel method is proposed to optimize geometrical parameters of the mechanism. To describe the kinematic singularity in a better way, the improved force transmission indexes based on previous methods are proposed using the reciprocal product and mobility...

... Assur groups modular kinematics four-bar crank-slider coupler cognates repetitive mechanisms mechanical function generators optimization mechanism design mechanism synthesis theoretical kinematics Modular kinematic of planar mechanisms allows for efficient computer programs...

... of this reconfigurable parameter is studied on two different aspects: the mechanism workspace and kinematic performances. Based on these kinematic data, the optimization of a mechanism is performed. The drill motion trajectories are used to evaluate the behavior of the optimized mechanism. It is finally compared...

... define compliance and reliance in the context of physical human–machine coordination (pHMC) to characterize human responses in a joint object transport task. We apply an optimization framework to explain human intention and behavior. The weighting factor in the optimization problem, lambda (λ...

... 4-bar mechanism motion generation defect elimination optimization While the objective in motion generation is to calculate the mechanism dimensions required to achieve a group of precision positions, adjustable motion generation (or multiphase motion generation ) on the other hand...

... forces and the wrench. They are defined as (9) f = [ t 1 t 2 t 3 t 4 t 5 t 6 t 7 ] T     and     w = [ f w T n w T ] T To optimize this robot...

... postures, however, were not reported in the literature and therefore could only be subjectively validated. This paper presented a method for simultaneously predicting optimal posture and supporting hand forces for one-handed tasks. Optimization was employed to predict the posture and supporting hand...

...] Shigley , J. E. , and Uicker , J. J. , 1995 , Theory of Machines and Mechanisms , McGraw Hill , New York . [3] Norton , R. L. , 2002 , Cam Design and Manufacturing Handbook , Industrial Press , New York . [4] Angeles , J. , and Lopez-Cajun , C. S. , 1991 , Optimization...

... performances. Therefore, this paper presents an optimization approach to synthesize and improve the dynamical performance of a reactionless three-degree-of-freedom planar mechanism. The three legs of this original mechanism are composed of reactionless four-bar mechanisms dynamically balanced with only one...

.... Using the characteristics of order, circuits, branches, and the geometric features of dead-center configurations for Stephenson-II function generators, the constraint equations for avoiding these defects are proposed for the optimal synthesis of Stephenson-II function generators. The synthesized...