In this paper, a novel cable-driven antagonistic joint of variable stiffness is presented. The
joint features antagonistic, series-elastic actuation with novel variable stiffness mechanisms …

In this paper, the mechanical design of a novel variable stiffness mechanism (VSM) with
reconfigurability is presented. The design of VSM is based on a zero-length base link four …

This paper describes a new approach to the design of a lightweight robotic arm for service
applications. A major design objective is to achieve a lightweight robot with desired …

According to its significance, robotics is always an area of interest for research and further
development. While robots have varying types, design and sizes, the six degrees of freedom …

AC servomotors are widely used in industrial robot manipulators to drive high dynamic
loads; thus, an appropriate selection and control of the motors contributes to a better …

With regard to the important role of motors and transmissions in the performance of
electromechanical and robotic systems, this paper intends to provide a solution for the …

This paper presents mechanical design process of an industrial and economical SCARA
robot, called FUM SCARA, designed by a team of students at the Ferdowsi University of …

The objective of this paper is to provide a comprehensive review of existing approaches and
techniques developed in the field of industrial robotics to make it energy efficient. The usage …

It is first recalled that a Π-joint is a parallelogram four-bar linkage whose coupler link
undergoes pure translation wrt its fixed link; moreover, all the points of the coupler link …

Minimizing the mass and moment of inertia is a crucial objective in robot design. Especially
for the biped humanoid robots, leg mass and moment of inertia severely affect the robot's …