Research

New Contents Coming Soon !!!

3-DOF 1T2R Parallel Robots

  • No Parasitic Motion
  • Foldable to save the size
  • Use small rotational actuators to support heavy load (with the aid of TM screw)
  • Applied to TV mounting devices (Payload: 50kg)

Counter-Balancing Robot

1. Feature

  • Fully counterweight balancing
  • Applied to Otologic Surgery
  • Tool holder+navigation sensor+brake

2. Disadvantage

  • Additional inertia added to the system (not suitable for relatively high speed application)
  • Trade-off between the mass and inertia of the whole system during inertia optimization

Spring-Balancing Robot

1. Feature

  • Fully Spring balancing
  • Almost no additional inertia added to the system
  • Tool holder+navigation sensor+brake

2. Disadvantage

  • Less safety as compared with the counterweight balancing (wire break)
  • Little friction due to using the wire transmission to get the ideal spring

Use Kinematic Redundancy to Avoid Parallel Singularities

  • Use the 1-DOF kinematic redundancy to avoid the parallel singularities
  • Large rotational workspace

4-DOF 3T1R Parallel Robot

+

1-DOF Kinematic Redundancy

  • Moving platform has three translational DOFs and one rotational DOF
  • 1-DOF kinematic redundancy exists in the system
  • Five motors required to control this robot
  • Kinematic redundancy can be used to avoid parallel singularity, design grasping module, etc.

Use Kinematic Redundancy to Perform Grasping

Scissor-Shaped Grasping Module

  • Use the 1-DOF kinematic redundancy to perform grasping
  • Scissor-shaped grasping module

Closed-Loop Grasping Module

  • Use the 1-DOF kinematic redundancy to perform grasping
  • Closed-loop grasping module (configurable End-Effector, Caging type)

Multi-Function Robot Gripper

  • Combine suction mechanism + linkage-driven gripper
  • Each finger is underactuated and independently controlled by two motors
  • Distal phalanx of each finger can be actively controlled
  • Experiment was performed with a 6-DOF industrial robot

Underactuated Robot Gripper

  • 2-fingered gripper with three actuators
  • Distal phalanx of each finger can be actively controlled
  • Open-close motion of the two fingers are controlled by a single motor
  • Contact-based grasping

Haptic Device Developed for Vascular Intervention Robot

  • 3-DOF positioning + 4-DOF rotation (one redundant DOF) + 1-DOF grip motion
  • Wire driven is used to reduce the backlash and provide backdrivable property
  • Gravity is fully balanced by using the counterweights

3-Finger Robotic Hand

  • 3 fingers with 9 actuators
  • Parallel grasping + Shape-adaptive power grasping
  • Grasping small/thin objects during making contact with the environment
  • Active transition from the parallel grasping to the shape-adaptive power grasping