A new, systematic approach to the synthesis of Cartesian stiffness by springs is presented
using screw (spatial vector) algebra. The space of solutions is fully characterized for all …

Remote center‐of‐compliance devices were developed to facilitate insertion for assembly
operations. An analysis using screw theory yields a more accurate model to better …

In this paper, we implement a characterization based on eigentwists and eigenwrenches for
the synthesis of a compliant mechanism at a given point. For 2D mechanisms, this involves …

Electro active polymers (EAPs) exhibit large electrically induced strains (bending or
stretching) with electrical stimuli. EAPs are utilized as actuators in micro gripper and …

Disassembly is the first step in the remanufacturing of a product. This paper presents the
design of a robot end-of-arm tool for removing a peg from a hole, a common operation in the …

In this paper, we present three designs for a decoupled, two-dimensional, vision-based
micro-Newton (μ N) force sensor for microrobotic applications. There are currently no …

This paper looks at the modeling of elastically coupled rigidbodies. The elastic deformation
is assumed to be localized, which is aparticularly valid assumption for flexural joints. A …

This paper presents a new approach to the problem of determining the frequencies and
mode shapes of Euler–Bernoulli tapered cantilever beams with a tip mass and a spring at …

Purpose Stiffness control of redundant robot arm, aimed at using extra degrees of freedom
(DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be consistent …

Stiffness decompositions originating from two distinct eigenvalue problems are applied to
stiffness synthesis by springs. The resulting free-vector and line-vector syntheses provide a …