Sep 2026· Proceedings of the Institution of mechanical engineers. Part C, journal of mechanical engineering science· 0 citations· 39 references
Abstract
In designing a compliant rotational joint (CRJ) with a larger motion range, corrugated flexures (CF) were used to construct an initial curved periodic beam with greater compliance. In consideration of axis drift, the conjugated surface was adopted, and a passive CRJ was designed. Considering the indeterminate problem caused by the conjugate surface, the spatial flexibility of CRJ is modeled, and the equivalent rotation stiffness of the joint is obtained. After analyzing the stress distribution along the curved beam, the motion range was determined, and its natural frequency was derived by applying the pseudo-rigid-body (PRB) method. The rotational joint is designed and optimized with the interference and performance considered. Finally, a prototype was fabricated and tested, achieving a rotation stroke of 21.650° and a first natural frequency of 85.131 Hz, both closely matching the simulated values of 21.349° and 80.267 Hz within a 15.6 mm design domain.
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Zhenjie Shi, Yan-Jun Liu, Yiran Wang et al.· Journal of Mechanisms and Ro...· 0 citations
Ensuring intrinsic safety in physical human robot interaction (pHRI) is a critical requirement for social and service robots. While Series Elastic Actuators (SEAs) offer hardware based compliance, traditional metallic designs often require complex, multi part assemblies. This paper presents the design, finite element a...
Joel Hidalgo Pisco, Melissa Cobos Condo, Luigi Miranda et al.· World Congress on Mechanical...· 0 citations
Modular steel construction offers significant advantages in fabrication efficiency, installation speed, and structural adaptability; however, the performance of inter-module connections remains a critical concern, particularly under lateral loading conditions. This study aimed to evaluate the mechanical behavior and st...
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The design and kinematic validation of a novel 3-DOF spherical parallel exoskeleton featuring base-fixed actuators featuring base-fixed actuators featuring exponential rotational matrices is presented, providing systematic derivations of equations in compact form.
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Ying-Hao Ning, Jia-Cheng Zheng, Jia-Qing Yin et al.· 2026 International Conferenc...· 0 citations
This work presented a biomechanically informed model and analysis of a 5-degree-of-freedom shoulder exoskeleton, constructed on a spatial parallel mechanism with a universal-prismatic-spherical joint configuration. The primary aim of the shoulder exoskeleton mechanism was to ensure the human shoulder’s natural moveme...
A. Rout, Ekta Singla· Robotica (Cambridge. Print)· 0 citations
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