Rapid changes in forces and the resulting changes in acceleration, jerk and higher order
derivatives can have undesired consequences beyond the effect of the forces themselves …

This study presents the design of an underactuated, two-finger, motor-driven compliant
gripper for grasping size-varied unknown objects. The gripper module consists of one main …

A dual-drive H-gantry is commonly used in many industrial processes to meet the
requirement of high-precision Cartesian motion. Unlike the rigid-linked gantry stage, the …

Performance of traditional model-based control relies upon accurate modeling. In motion
control of flexible systems, it is desirable to use the reduced-order model for ease of …

In this work, the design of a novel the flexure-linked dual-drive H-gantry is first introduced.
Compared to conventional stacked XY tables, the advantages of this gantry are on …

This study presents an optimal design procedure including topology optimization and size–
shape optimization methods to maximize mechanical advantage (which is defined as the …

This paper presents a novel parallel actuation dual-stage system that delivers nanometric
positioning over a large displacement. Unlike those traditional dual-stage designs, the …

The dual-drive H-gantry is widely used for high-speed, high-precision Cartesian motion.
Compared with the conventional rigid-linked design, the flexure-linked counterpart is able to …

Mechatronic and robotic systems are increasingly used in the health care and medical
industry in recent years. Once the surgery is shifted from operating room to clinic or …

This work presents a new method of sensitivity shaping for motion control systems with
disturbance observer (DOB). Although the traditional DOB design has been proved to be an …