This paper aims at developing a general framework for the use of the concept of adaptive mechanical system in the design of advanced robotic devices. The concept of adaptive mechanical system is first formalized. A design methodology is then proposed in order to formulate the associated design paradigm, based on the fundamental principles of mechanics. Finally, examples of adaptive robotic mechanical systems taken from the literature are presented in order to illustrate the application of the general design methodology.
Issue Section:
Research Papers
1.
Svoboda
, A.
, 1948, Computing Mechanisms and Linkages
, McGraw-Hill
, New York and London.2.
Rothwell
, J. J.
, and Stuart
, L. M.
, 1935, “Variable Speed Mechanism
,” US Patent 2,002,585.3.
Clymer
, A. B.
, 1993, “The Mechanical Analog Computers of Hannibal Ford and William Newell
,” Ann. Hist. Comput.
0164-1239, 15
, No. 2
, pp. 19
–34
.4.
Simon and Schuster Inc.
, 1988, Webster’s New World Dictionary
, 3rd ed..5.
Ulrich
, N. T.
, 1988, “Methods and Apparatus for Mechanically Intelligent Grasping
,” US Patent No. 4,957,320.6.
Jacobsen
, S. C.
, Wood
, J. E.
, Knutti
, D. F.
, and Biggers
, K. B.
, 1984, “The UTAH∕M.I.T. Dextrous Hand: Work in Progress
,” Int. J. Robot. Res.
0278-3649, 3
, No. 4
, pp. 21
–50
.7.
Mason
, M. T.
, and Salisbury
, J. K.
, 1985, Robot Hands and the Mechanics of Manipulation
, The MIT Press
, Cambridge.8.
Butterfass
, J.
, Grebenstein
, M.
, Liu
, H.
, and Hirzinger
, G.
, 2001, “DLR-Hand II: Next Generation of a Dextrous Robot Hand
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Seoul, South Korea, pp. 109
–114
.9.
Chen
, F. Y.
, 1982, “Gripping Mechanisms for Industrial Robots: An Overview
,” Mech. Mach. Theory
0094-114X, 17
, No. 5
, pp. 299
–311
.10.
Crisman
, J. D.
, Kanojia
, C.
, and Zeid
, I.
, 1996, “Graspar: A Flexible, Easily Controllable Robotic Hand
,” IEEE Rob. Autom. Mag.
1070-9932, 3
(2
), pp. 32
–38
, June.11.
Graham
, D. F.
, 1993, “Artificial Hand and Digit Therefor
,” U.S. Patent 5,200,679.12.
Hirose
, S.
, and Umetani
, Y.
, 1978, “The Development of Soft Gripper for the Versatile Robot Hand
,” Mech. Mach. Theory
0094-114X, 13
, pp. 351
–359
.13.
Crowder
, R. M.
, and Whatley
, D. R.
, 1989, “Robotic Gripping Device Having Linkage Actuated Finger Sections
,” U.S. Patent 4,834,443.14.
Bartholet
, S. J.
, 1992, “Reconfigurable End Effector
,” U.S. Patent 5,108,140.15.
Ulrich
, N. T.
, and Kumar
, V.
, 1988, “Grasping Using Fingers with Coupled Joints
,” Proceedings of the ASME Mechanisms Conference
, Vol. 15-3
, pp. 201
–207
.16.
Lee
, S.
, 1990, “Artificial Dexterous Hand
,” U.S. Patent 4,946,380.17.
Shimojima
, H.
, Yamamoto
, K.
, and Kawawita
, K.
, 1987, “A Study of Grippers with Multiple Degrees of Mobility
,” JSME Int. J.
0913-185X, 30
, No. 261
, pp. 515
–522
.18.
Birglen
, L.
, and Gosselin
, C.
, 2004, “Kinetostatic Analysis of Underactuated Fingers
,” IEEE Trans. Rob. Autom.
1042-296X, 20
, No. 2
, pp. 211
–221
.19.
Gosselin
, C. M.
, and Laliberté
, T.
, 1998, “Underactuated Mechanical Finger with Return Actuation
,” U.S. Patent 5,762,390.20.
Laliberté
, T.
, and Gosselin
, C.
, 2003, “Actuation System for Highly Underactuated Gripping Mechanism
,” U.S. Patent 6,505,870.21.
Nathan
, R. H.
, 1985, “A Constant Force Generation Mechanism
,” ASME J. Mech., Transm., Autom. Des.
0738-0666, 107
, No. 4
, pp. 508
–512
.22.
Hervé
, J. M.
, 1986, “Device for Counter-Balancing the Forces due to Gravity in a Robot Arm
,” U.S. Patent 4,620,829, May.23.
Streit
, D. A.
, and Gilmore
, B. J.
, 1989, “Perfect Spring Equilibrators for Rotatable Bodies
,” ASME J. Mech., Transm., Autom. Des.
0738-0666, 111
, No. 4
, pp. 451
–458
.24.
Ulrich
, N.
, and Kumar
, V.
, 1991, “Passive Mechanical Gravity Compensation for Robot Manipulators
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Sacramento, pp. 1536
–1541
.25.
Walsh
, G. J.
, Streit
, D. A.
, and Gilmore
, B. J.
, 1991, “Spatial Spring Equilibrator Theory
,” Mech. Mach. Theory
0094-114X, 26
, No. 2
, pp. 155
–170
.26.
Agrawal
, S. K.
, and Fattah
, A.
, 2004, “Gravity-Balancing of Spatial Robotic Manipulators
,” Mech. Mach. Theory
0094-114X, 39
, pp. 1331
–1344
.27.
Kazerooni
, H.
, and Kim
, S.
, 1988, “A New Architecture for Direct Drive Robots
,” Proceedings of the IEEE Int. Conference on Robotics and Automation
, Philadelphia, pp. 442
–445
.28.
Herder
, J.
, 2001, “Energy-Free Systems: Theory, Conception and Design of Statically Balanced Spring Mechanisms
,” Ph.D. Thesis, Delft University of Technology, Delft, The Netherlands.29.
Gosselin
, C.
, and Wang
, J.
, 2000, “Static Balancing of Spatial Six-Degree-of-Freedom Parallel Mechanisms with Revolute Actuators
,” J. Rob. Syst.
0741-2223, 17
, No. 3
, pp. 159
–170
.30.
Lowen
, G. G.
, Tepper
, F. R.
, and Berkof
, R. S.
, 1983, “Balancing of Linkages—an Update
,” Mech. Mach. Theory
0094-114X, 18
, No. 3
, pp. 213
–220
.31.
Dresig
, H.
et al., 1998, “Dynamics of Mechanisms—Rigid Body Mechanisms
,” VDI Richtlinien 2149
Part 1, p. 72
, Oct.32.
Kochev
, I. S.
, 2000, “General Theory of Complete Shaking Moment Balancing of Planar Linkages: a Critical Review
,” Mech. Mach. Theory
0094-114X, 35
, No. 11
, pp. 1501
–1514
.33.
Wu
, Y.
, 2003, “Synthesis and Analysis of Reactionless Spatial Parallel Mechanisms
,” Ph.D. Thesis, Université Laval, Québec, Canada.34.
Papadopoulos
, E.
, and Abu-Abed
, A.
, 1996, “On the Design of Zero Reaction Manipulators
,” ASME J. Mech. Des.
1050-0472, 118
, No. 3
, pp. 372
–376
, Sept.35.
Ricard
, R.
, and Gosselin
, C. M.
, 2000, “On the Development of Reactionless Parallel Manipulators
,” in Proc. 2000 ASME Design Engineering Technical Conference and Computers and Information in Engineering Conference
, Baltimore, Maryland, no. MECH-14098, Sept.36.
Gosselin
, C.
, Vollmer
, F.
, Côté
, G.
, and Wu
, Y.
, 2004, “Synthesis and Design of Reactionless Three-Degree-of-Freedom Parallel Mechanisms
,” IEEE Trans. Rob. Autom.
1042-296X, 20
, No. 2
, pp. 191
–199
.37.
Wu
, Y.
, and Gosselin
, C.
, 2002, “On the Synthesis of a Reactionless 6-DOF Parallel Mechanism Using Planar Four-Bar Linkages
,” Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators
, Quebec City, Oct. 2–4, pp. 310
–316
.38.
Foucault
, S.
, and Gosselin
, C.
, 2004, “Synthesis, Design and Prototyping of a Planar 3-DOF Reactionless Parallel Mechanism
,” ASME J. Mech. Des.
1050-0472, 126
, No. 6
, pp. 992
–999
.39.
McGeer
, T.
, 1990, “Passive Dynamic Walking
,” Int. J. Robot. Res.
0278-3649, 9
, No. 2
, pp. 62
–82
.40.
Collins
, S. H.
, Wisse
, M.
, and Ruina
, A.
, 2001, “A Three-Dimensional Passive-Dynamic Walking Robot With Two Legs and Knees
,” Int. J. Robot. Res.
0278-3649, 20
, No. 7
, pp. 607
–615
.41.
Collins
, S. H.
, and Ruina
, A.
, 2005, “A Bipedal Walking Robot With Efficient and Human-Like Gait
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Barcelona, Spain.Copyright © 2006
by American Society of Mechanical Engineers
You do not currently have access to this content.
