Zobrazeno 1 - 10
of 28
pro vyhledávání: '"Mark M. Plecnik"'
Autor:
Mark M. Plecnik, Ronald S. Fearing
Publikováno v:
IEEE Transactions on Robotics. 36:1135-1152
Achieving high-performance dynamic behavior in a robot requires careful design of morphology. However, searching for a global optimum morphology in an intensely nonlinear design space is difficult, especially if stochastic seeding is used. In contras
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::89bfca5bbc63b9b792efb100f18f0615
https://doi.org/10.1109/tro.2020.2975425
https://doi.org/10.1109/tro.2020.2975425
Publikováno v:
Volume 8B: 45th Mechanisms and Robotics Conference (MR).
This paper investigates the use of multimaterial compliant joints produced through additive manufacturing in order to approximate a revolute joint. Compliant joints benefit from low friction and reduced wear, but at the cost of increased joint stiffn
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::d2031fd193de46ff2eba161f9a641dd2
https://doi.org/10.1115/detc2021-67865
https://doi.org/10.1115/detc2021-67865
Autor:
Aravind Baskar, Mark M. Plecnik
Publikováno v:
ICRA
Kinematics is the first consideration in designing the mechanical structures that comprise robots. Of the many subcategories that exist under this umbrella, an often early design goal is to achieve some desired workspace. This goal applies to both si
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::fa3b3dcf12bde7101b7bf353cefda832
https://doi.org/10.1109/icra48506.2021.9561303
https://doi.org/10.1109/icra48506.2021.9561303
Autor:
Aravind Baskar, Mark M. Plecnik
Publikováno v:
Journal of Mechanisms and Robotics. 13
Following recent work on Stephenson-type mechanisms, the synthesis equations of Watt six-bar mechanisms that act as timed curve generators are formulated and systematically solved. Four variations of the problem arise by assigning the actuator and en
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::06ef744dd195e564c90e2b3b2efe5cae
https://doi.org/10.1115/1.4050197
https://doi.org/10.1115/1.4050197
Autor:
Mark M. Plecnik, Aravind Baskar
Publikováno v:
Journal of Mechanisms and Robotics. 13
Synthesis of rigid-body mechanisms has traditionally been motivated by the design for kinematic requirements such as rigid-body motions, paths, or functions. A blend of the latter two leads to timed curve synthesis, the goal of which is to produce a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ea03cf88e54ec0133419e0f40e3884c2
https://doi.org/10.1115/1.4047871
https://doi.org/10.1115/1.4047871
Autor:
Mark M. Plecnik, Chang Liu
Publikováno v:
Volume 10: 44th Mechanisms and Robotics Conference (MR).
This paper focuses on preliminary work related to the discovery of single degree-of-freedom mechanism paths useful for dynamic locomotion tasks. The objective is to bridge a gap between kinematic specifications and emerging dynamic behaviors. This is
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::81d51134c8a450057c0de0e7cbbc8bac
https://doi.org/10.1115/detc2020-22666
https://doi.org/10.1115/detc2020-22666
Autor:
Aravind Baskar, Mark M. Plecnik
Publikováno v:
Advances in Robot Kinematics 2020 ISBN: 9783030509743
ARK
ARK
The path synthesis of a four-bar linkage is commonly framed so as to size links such that a coupler curve passes through specified planar precision points. It may instead be framed with consideration of higher order derivative information at each pre
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::4f01a8620e95fa422d0d73f35ee8688a
https://doi.org/10.1007/978-3-030-50975-0_37
https://doi.org/10.1007/978-3-030-50975-0_37
Autor:
Mark M. Plecnik, Aravind Baskar
Publikováno v:
Volume 5B: 43rd Mechanisms and Robotics Conference.
The kinematic synthesis equations of fairly simple planar linkage topologies are vastly nonlinear. This indicates that a large number of solutions exist, and hence a large number of design candidates might be present. Recent algorithms based in polyn
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e4dbdb900dae7601a814faad4afc843b
https://doi.org/10.1115/detc2019-98136
https://doi.org/10.1115/detc2019-98136
Publikováno v:
ICRA
Recent work in the design of mechanical systems for terrestrial locomotion has indicated successful strategies for increasing the energetic performance of a robotic locomotor without upgrading its actuator system. We apply one such strategy, termed p
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::7d38f8d5dc6bdd5a7ae20910ebc12f95
https://doi.org/10.1109/icra.2019.8794379
https://doi.org/10.1109/icra.2019.8794379
Autor:
Mark M. Plecnik, J. Michael McCarthy
Publikováno v:
Mechanism and Machine Theory. 97:112-126
This paper presents a direct solution of the kinematic synthesis equations for Stephenson III six-bar function generators to achieve as many as 11 accuracy points. The approach is similar to that used to design Stephenson II function generators, exce
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::eb0fb1ad68daccd734b5868c52d64d7e
https://doi.org/10.1016/j.mechmachtheory.2015.10.004
https://doi.org/10.1016/j.mechmachtheory.2015.10.004