Journal of Mechanisms and Robotics
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EISSN:1942-4310|ISSN:1942-4302|Disc:The Journal of Mechanisms and Robotics publishes research contributions to the fundamental theory, algorithms, and applications for robotic and machine systems|Priority:6|Publisher:American Society of Mechanical Engineers|
Recent Submissions
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Fully Foldable Mechanical Metamaterials With Isotropic Auxeticity and Its Generated Multi-Mode Folding Form
(The American Society of Mechanical Engineers (ASME), 2025)Auxetic materials, a type of mechanical metamaterial with negative Poisson's ratio, are potentially utilized in the realms of energy absorption and engineering structures. However, most of the existing auxetic materials ... -
Safety in Wearable Robotic Exoskeletons: Design, Control, and Testing Guidelines
(The American Society of Mechanical Engineers (ASME), 2024)Exoskeletons, wearable robotic devices designed to enhance human strength and endurance, find applications in various fields such as healthcare and industry; however, stringent safety measures should be adopted in such ... -
Modeling, Simulation, and Kinematic Validation of Transfemoral Prosthetic Mechanism With Ankle Varus–Valgus Characteristic
(The American Society of Mechanical Engineers (ASME), 2024)Inspired by the kinesiology of human bionic joints, a transfemoral prosthetic mechanism based on a functional structure of parallel mechanism is developed for the transfemoral amputees. The walking interactive simulation ... -
Passive Realization of Object Spatial Compliance by a Hand Having Multiple Four-Joint Hard Fingers
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents an approach to passively realize any specified object spatial compliance using the grasp of a robotic hand. The kinematically anthropomorphic hands considered have multiple 4-joint fingers making hard ... -
A Novel One-Degree-of-Freedom Deployable Structure and Its Plate Form
(The American Society of Mechanical Engineers (ASME), 2024)Deployable structures are widely utilized in various fields due to their ability to switch between a deployed working state and a folded storage state. This paper presents a new method for achieving plate forms in deployable ... -
Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions
(The American Society of Mechanical Engineers (ASME), 2024)Remote center-of-motion (RCM) mechanisms provide a way for surgical instruments to pass through a remote center (e.g., skin incision) under geometrical constraints, facilitating safer operations in minimally invasive surgery ... -
Design of High-Performance Triple-Axis Cross Pivots
(The American Society of Mechanical Engineers (ASME), 2024)Cross-axis flexural pivots are increasingly implemented in mechanical systems due to their high precision and wide range of motion. However, designing high-performance pivots in terms of low-axis drift, low rotational ... -
A Systematic Procedure of Transfer Matrix Method to Analyze Compliant Mechanisms With Irregularly Connected Building Blocks
(The American Society of Mechanical Engineers (ASME), 2025)Kinetostatic and dynamic analyses are of significance in designing compliant mechanisms. The design challenge of complex configurations with irregular building blocks, however, not only leads to difficult modeling but would ... -
Design and Analysis of a Bimanual Parallel Dexterous Hand With Cooperative Manipulation Capability
(The American Society of Mechanical Engineers (ASME), 2025)A bimanual parallel dexterous hand with cooperative manipulation capability is proposed to solve the problem that one hand cannot achieve continuous in-hand manipulation. The bimanual parallel dexterous hand is composed ... -
On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots
(The American Society of Mechanical Engineers (ASME), 2025)Wire-actuated/tendon-actuated mechanisms suffer from discontinuity in their performance measures stemming from the limitation of unilateral actuation due to tendon actuation (pull-only actuation). Using traditional ... -
A Combined Strategy for Path Planning of Tensegrity Manipulators Considering Structural Stability
(The American Society of Mechanical Engineers (ASME), 2024)A strategy combining an improved rapidly exploring random tree (RRT) method with the artificial potential field (APF) method is proposed for the path planning of flexible tensegrity manipulators considering typical complex ... -
Cooperative Object Transport Via Non-Contact Prehensile Pushing by Magnetic Forces
(The American Society of Mechanical Engineers (ASME), 2024)Cooperative robot systems are an essential candidate for object transportation solutions. They offer cost-efficient and flexible operation for various types of robotic tasks. The benefits of cooperative robot systems have ... -
Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System
(The American Society of Mechanical Engineers (ASME), 2024)Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This article provides the mechanical, electrical, and software design of a novel ... -
Push Recovery of a Biped in Different Stance Scenarios
(The American Society of Mechanical Engineers (ASME), 2024)Push recovery of a biped robot is challenging because of the complexity of biped locomotion contributed by its constraints. The present work proposes a novel optimized control methodology for push recovery against external ... -
A New Planar Overconstrained Mechanism Generated by Merging Two Symmetric Watt’s Six-Bar Linkages that Perform Gear-Like Motion
(The American Society of Mechanical Engineers (ASME), 2024)This article explores the synthesis of a planar overconstrained mechanism potentially for a folding hinge application. Inspired by a folding hinge patent from a phone company, the author analyzes the linkage and discovers ... -
A Novel Delta-Like Parallel Robot With Three Translations and Two Pitch Rotations for Peg-in-Hole Assembly
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents a novel 5-degree-of-freedom (5-DOF) delta-like parallel robot named the double-pitch-delta robot, which can output three translations and two pitch rotations for peg-in-hole assembly. First, the kinematic ... -
Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper
(The American Society of Mechanical Engineers (ASME), 2024)We developed a small jumping mechanism inspired by planthopper. The planthopper jump is characterized by two functions of the hind legs; the leg synchronization using physical contact of the trochanter head and the power ... -
Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
(The American Society of Mechanical Engineers (ASME), 2024)Euler–Lagrange's formulation is known for its systematic and simplified approach to deriving dynamics of complex systems. In order to apply the existing formulation to human gait dynamics, the base reference frame must be ... -
Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator
(The American Society of Mechanical Engineers (ASME), 2024)In this paper, a spherical parallel continuum manipulator (SPCM) which is the flexible version of the 3-RRR“Agile Eye” mechanism is proposed and analyzed. The SPCM consists of three parallel flexible limbs, each limb is ... -
Kinetostatic Modeling of an Asymmetrical Double-Stepped Beam for Displacement Amplification
(The American Society of Mechanical Engineers (ASME), 2024)A kinetostatic model of an asymmetrical double-stepped beam under axial loading is developed. The beam is composed of two thick segments and three thin segments where a thick segment is between two thin segments, and the ...