introduction: the purpose of this study was to compare the accuracy of the torque wrenches used in different dental implant systems. methods: we evaluated 42 torque wrenches used in different dental clinics in mashhad, iran, using a digital torque meter (mark 10). high (25, 30 and 35 n·cm) and low (15 n·cm) levels of torque were examined. ten tests were performed on each wrench, and the mean va...

We present a framework to enable a fleet of rigidly attached quadrotor aerial robots to transport heavy objects along a known reference trajectory without interrobot communication or centralized coordination. Leveraging a distributed wrench controller, we provide exponential stability guarantees for the entire assembly, under a mild geometric condition. This is achieved by each quadrotor indepe...

This research focuses on improved force-reflecting teleoperation system control in free motion and contact tasks. Specifically, the Naturally-Transitioning Rate-to-Force Controller (NTRFC) is implemented in an Air Force experimental force-reflecting teleoperation system to: 1) achieve a unified controller with no mode switches from free motion to contact; and 2) reduce the wrench exerted on the...

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses for which any wrench can be produced at the end-effector by a set of a non-negative cable tensions. It is already known that the boundary of the constant-orientation wrench-closure workspace of a planar parallel cable-driven mechanism is composed of segments of conic sections. Howevel; the relationship between ...

The paper deals with the problem of finding a form-closure fixturing of objects modeled with triangular meshes and considering as quality measure the maximum wrench that the object can resist in any direction. Although a triangular mesh is a polyhedral representation of the object, the number of faces is too large to allow a practical application of existing approaches for polyhedral objects, a...

This paper presents an approach to planning compliant grasps and fixtures in which the object exhibits minimal deflection under external disturbances. The approach, which applies to general twoand threedimensional grasps and fixtures represented by any quasirigid compliance model, employs a quality measure that characterizes the grasped or fixtured object’s worst-case deflection caused by distu...

The wrench feasibility and twist are the workspace conditions that indicate whether mobile-platform (MP) of cable-driven parallel robots (CDPRs) can provide a sufficient amount twist. Traditionally, these two quantities evaluated independently from actuator's torque speed limits, which assumed to be fixed in literature, but they are, indeed, coupled. This results conservative usage actuator cap...