RAMADOSS V.

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This paper presents the kineto-static analysis of cable-driven serial kinematic chains (CDSKCs). The CDSKC are typically open-chain structures with complex cable routing and multiple links. By using cable routing between links, re-routing within links and cable bundles, any serial chain with n degrees of freedom can be controlled with n+1...

Virtual reality tracking devices are rapidly becoming the go-to system for cost-effective motion tracking solutions across different communities such as robotics, biomechanics, sports, rehabilitation, motion simulators, etc. This article focuses on the spatial tracking performance of HTC Vive's lighthouse tracking system (VLTS) devices...

The multilink cable driven robot (MCDR) is an extension of the cable robots where the moving platform is replaced by a multibody chain. It is typically an open-chain structure with multiple links and complex cable routing. This design introduces the advantages of having a serial kinematic structure and preserves the benefits associated with...

The focus of this article is the design and development of a novel multipurpose omnidirectional modular all-terrain mobile robot. The locomotion is achieved by means of multiple screws and can bear a wider variety of terrain than ordinary robot using a logical combination of the angular speeds of each screw. The kinematic model of the proposed...

There has been an increasing interest in design and construction of deployable mechanisms (DMs) with multiple degrees of freedom (DOFs). This paper summarizes a family of deployable mechanisms that approximates a series of curves and surfaces using the polygonal approximation technique. These mechanisms are obtained by linking the two- and...

Wearable robotics is a rapidly evolving field with assistive exoskeletons being developed for medical and industrial purposes. These exoskeletons can be used for gait rehabilitation of patients, arm rehabilitation and provide body support during training. These exoskeletal systems are anthropomorphically structured mechanisms where the rigid...

This paper presents a clear and detailed mathematical analysis of the stiffness evaluation of tendon-driven serial kinematic chains which allow single-point and multi-point routing with bundling per rigid link. The kinematic analysis of tendon driven serial chain with cable routing between links, re-routing within links and bundling is...

Screw theory is a powerful mathematical tool for the kinematic analysis of mechanisms and has become a cornerstone of modern kinematics. Although screw theory has rooted itself as a core concept, there is a lack of generic software tools for visualization of the geometric pattern of the screw elements. This paper presents STORM, an educational...

With the rise of collaborative robots in industries, this paper proposes a human robot collaborative gripper for a windshield assembly and visual inspection application. The collaborative interface which acts as a haptic feedback device is mounted on the gripper using a deployable mechanism. The kinematics of a reconfigurable mechanism are...

In recent times, safe interactions between humans and robots are required for innumerable tasks and environments. This safety can be achieved using compliance design and control of mechanisms. Cable-driven mechanisms are used when applications need to have light structures, meaning that their actuators must be relocated to ground and forces are...

There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight reduction. This paper proposes a new robotic mechanism based on tensegrity ('tension-integrity') robots and...