Research & Publications – Interactive Robot Design (IRoD)

Here you can find an overview of our research projects and publications.

A Design Approach for Gravity Compensators Using Planar Four-Bar Mechanisms and a Linear Spring

robotics

mechanism design

control

This project develops a design approach for gravity compensators using planar four-bar mechanisms and a linear spring. This work enables the development of a class of…

Jun 10, 2024

A Novel Large-Stroke Constant Force Mechanism

mechanism design

robotics

control

This work presents the design of a novel adjustable constant-force mechanism (CFM) using a geared Sarrus linkage and a linear spring. The uniqueness of this design is that…

May 26, 2023

Development of an Autonomous Mobile Robotic Manipulator with Performance Augmentation for Large-Scale Industrial Manufacturing

robotics

manufacturing

mechanism design

The proposed research project is directly in line with advanced manufacturing by developing a novel autonomous mobile robotic manipulator with performance augmentation for…

Dec 13, 2022

Compliance error compensation of a robot end-effector with joint stiffness uncertainties for milling

robotics

control

manufacturing

This research aims to present an analytical model to compensate for the compliance errors of a Delta parallel robot as the mini robot, which is mounted at the end effector…

Apr 15, 2022

Development of an Intelligent Automatic Guided Vehicle (AGV)

robotics

manufacturing

control

This research aims to develop a robotic manipulator with performance augmentation for an intelligent automatic guided vehicle (AGV). The robot augmentation is realized…

Dec 20, 2021

Gravity compensation design of delta parallel robots

robotics

mechanism design

control

This research applied the gear-spring module (GSM) for gravity compensation of the renowned Delta parallel robots. Design examples are implemented through a theoretical…

Dec 20, 2020

A gravity-balanced reconfigurable mechanism for lower-limb rehabilitation

robotics

mechanism design

rehabilitation

This research introduced a gravity-balanced reconfigurable mechanism for lower-limb rehabilitation. The unique feature of this design is that it uses a single counterweight…

Dec 20, 2019

Gravity compensation for serial robotic manipulators

robotics

mechanism design

control

Gravity compensation using mechanical springs allows eliminating the gravitational effect on robotic manipulators, thereby reducing the actuation energy and improving…

Dec 15, 2019

A spherical decoupled robotic manipulator for neuroendoscopy

robotics

medical robotics

mechanism design

This project aims to develop a robotic manipulator for neuroendoscopy. The manipulator is constructed based on a novel five-bar spherical decoupled mechanism that can…

Dec 20, 2017

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