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Dynamics of a four-bar mechanism with clearance and springs - Modeling and experimental analysis
(Korean Society of Mechanical Engineers and Springer, 2017)
This paper presents a study of the dynamic behavior of a planar four-bar mechanism with clearance. A spring is added to improve the dynamic response of the mechanism with clearance. Simulations and experimental tests are ...
Identifying Friction in a Nonlinear Chaotic System Using a Universal Adaptive Stabilizer
(IEEE, 2022-04)
This paper proposes a friction model parameter identification routine that can work with highly nonlinear and chaotic systems. The chosen system for this study is a passively-actuated tilted Furuta pendulum, which is known ...
Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation
(MDPI, 2021)
This paper deals with the optimal design of a planar cable-driven parallel robot (CDPR), with three degrees of freedom, intended for assisting the patient’s affected upper limb along a prescribed movement. A Qualisys motion ...