Robotics and Mechatronics

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Robotics and Mechatronics

Introduction

Robotics and Mechatronics

    Robots play a critical role on automatic production and are more and more common in industrial applications. The movements of robots usually require positioning accuracy, geometric agility and wide ranges of speed and torque changing to meet the needs of different working conditions. The reducer (speed-reduced mechanism) is a key component of robots which is put on the joint axis for reducing the rotational speeds of motors. It must own the properties of high reduction ratio and small volume due to the function requirements and the geometric constraints of robots. 

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    The harmonic gear decelerators were commonly used in many robots in the past because it owned the properties required by the robots. The website introduces the information of the harmonic drivers. The existed problems of harmonic gear decelerator are the transmission torques limited due to the flexible design of the transmitted mechanisms  although it possessed high reduction ratio and structural compactness. To satisfactory the properties of high rigidness, large reduction ratio and structure compactness, an innovated design named as Differential Reducer (DR) is presented in this paper.

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Table of Contents

Part I Mechanism and Advanced Mechanical Design

• A Study of Structural Stress Analysis of Reducers for Supporting Reliability Design 
• Structural and Dimensional Synthesis of Parallel Manipulator with Two End—Effectors
• Parametric Design Optimization of Two Link Robotic Manipulator
• Investigation of the Behavior of a New Miniature Carbon-Paraffin Phase-Change Actuator
• Enumeration of Driving Mechanisms in Robotics by Combinatorial Analysis Method

Part II Humanoid and Legged Robotics

• Design and Experiments on a New Humanoid Robot: TIDOM 
• Experimental Inspiration and Rapid Prototyping of a Novel Humanoid Torso
• Design of Robots Used as Education Companion and Tutor
• Walking of a Biped Robot Balanced with a Reciprocating Torso

Part III Parallel Manipulators

• Determining the Reachable Workspace for 6-DOF Delta Manipulators
• A Reconfiguration Strategy of a Parallel Delta-Type Robot to Improve the Kinematic Performance 
• Workspace and Singularity Analysis of a Delta like Family Robot
• Optimal Trajectory Planning of 3RRR Parallel Robot Using Ant Colony Algorithm

Part IV Medical Robotics I

• Force Control Implementation of a Haptic Device for a Medical Use
• Integration of Automated Camera Steering for Robotic Single-Site Surgery and Dmitry Oleynikov
• Kinematic Models of a New Spherical Parallel Manipulator Used as a Master Device 
• Initial Experiments with the Leap Motion as a User Interface in Robotic Endonasal Surgery

Part V Medical Robotics II

• Mechatronic Device to Assist Therapies During Hand Fingers Rehabilitation
• Mechanical Design of a Craniotomy Robotic Manipulator Based on Optimal Kinematic and Force Performance
• Dynamic Simulation of a Cable-Based Gait Training Machine
• An in Vivo Experiment to Assess the Validity of the Log Linearized Hunt-Crossley Model for Contacts of Robots with the Human Abdomen

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