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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An Improved Dual Quaternion Dynamic Movement Primitives-Based Algorithm for Robot-Agnostic Learning and Execution of Throwing Tasks
(The American Society of Mechanical Engineers (ASME), 2025)Inspired by human nature, roboticists have conceived robots as tools meant to be flexible, capable of performing a wide variety of tasks. Learning from demonstration methods allow us to “teach” robots the way we would ... -
Design and Modeling of an Expandable Bending Actuator With Multiple Pneumatic Sources
(The American Society of Mechanical Engineers (ASME), 2025)This article describes the design and modeling of an expandable and inflatable bending actuator with multiple pneumatic sources. The actuator includes independent pneumatic modules sewn onto a flexible, nonstretch fabric ... -
A Conformal Geometric Algebra Method for Inverse Kinematics Analysis of 6R Robotic Arm
(The American Society of Mechanical Engineers (ASME), 2025)Addressing the issue of angle multiplicity in solving joint angles using cosine expressions within the context of conformal geometric algebra for inverse kinematics analysis, an extended method for joint angle determination ... -
Dynamic Manipulability for a Two-Link Manipulator Driven By Pneumatic Artificial Muscles and Passive Springs
(The American Society of Mechanical Engineers (ASME), 2025)In the case of manipulators actuated by unidirectional pneumatic artificial muscles (PAMs) and passive restoring springs, the system parameters and spring stiffness affect the reachable workspace and the dynamic manipulability. ... -
Case Study and Preliminary Validation of a Parametric, Three-Dimensional Printable Tendon-Driven Biomimetic Hand Exoskeleton
(The American Society of Mechanical Engineers (ASME), 2025)Portable hand exoskeletons are reaching homes, providing daily assistance to people with hand impairments and enhancing their quality of life. Their design, however, is rarely based on the biomimetics of human finger ... -
A Dual-Robot System Design for In-Cabin Pose Adjusting of Heavy Parts
(The American Society of Mechanical Engineers (ASME), 2025)A three-limb six degrees-of-freedom (DoFs) parallel robot whose topology is 3-PRPS is proposed. Herein, P, R, and S denote actuated prismatic joint, revolute joint, and spherical joint, respectively. It is applied to ... -
Improving Exoskeleton Brace Design: Alleviating Misalignment and Parasitic Forces
(The American Society of Mechanical Engineers (ASME), 2025)This article presents a design methodology for exoskeleton-user connection attachments, i.e., braces that aim to reduce parasitic forces and potentially improve user comfort. The proposed brace structure incorporates ... -
Ranking Static Balancing Methods Based on the Actuating Frictional Effort
(The American Society of Mechanical Engineers (ASME), 2025)When a linkage is statically balanced, the effort required to actuate it quasi-statically in the absence of friction is zero. This is true irrespective of how the static balancing is accomplished. However, the effort is ... -
Design and Autonomous Obstacle-Crossing Strategy of a Reconfigurable Closed-Chain Legged Robot
(The American Society of Mechanical Engineers (ASME), 2025)A closed-chain legged robot with a reconfigurable trunk is designed, and its continuous and collision-free obstacle-crossing strategy is presented to enhance terrain adaptability and intelligence, ultimately enabling ... -
Instant Grasping Framework of Textured Objects Via Precise Point Matches and Normalized Target Poses
(The American Society of Mechanical Engineers (ASME), 2025)To reliably manipulate previously unknown objects in semi-structured environments, robots require rapid deployments and seamless transitions in pose estimation and grasping. This work proposes a novel two-stage robotic ... -
Automated Task-Based Approach to Modular Manipulator Design: Position Accuracy and Heavy Payload Capacity Requirements
(The American Society of Mechanical Engineers (ASME), 2025)In this article, we present a framework that automatically selects a modular manipulator structure based on a user-defined task involving 3D trajectory tracking, handling heavy payloads with precision, and navigating around ... -
SomerBot: A Two-Legged Somersaulting Robotic Climber With Compliant Footpad
(The American Society of Mechanical Engineers (ASME), 2025)Climbing capability is crucial for expanding the operational range of ground robots in inspection and exploration tasks within confined or hazardous spaces. We introduce SomerBot, a two-legged somersaulting robot designed ... -
GPALM—Multifunctional Underactuated Mechanism With Grasping, Perching, and Adaptive Landing Skills for Drone Applications
(The American Society of Mechanical Engineers (ASME), 2025)- -
A Study on the Comparative Analysis of Self-Aligned and Alignment-Free Mechanisms for Shoulder Rehabilitation
(The American Society of Mechanical Engineers (ASME), 2025)This study focuses on the comparative evaluation of self-aligned (S-A) and alignment-free (A-F) mechanisms for upper limb rehabilitation robots, aiming to improve comfort and adaptability in rehabilitation exercises. The ... -
Design and Dynamic Analysis of a Bio-Inspired Rolling Joint Manipulator Based on Pulley-Cable System
(The American Society of Mechanical Engineers (ASME), 2025)Cable-driven joints have gained widespread use in various applications, yet the inherent limitations in cable stiffness and strength pose challenges in ensuring joint stability and operational safety. Enhancing joint ... -
Design, Analysis, and Development of a Novel 6-Degrees-of-Freedom Surgical Robot Using Cable-Driven Composite Continuum Mechanisms With Decoupling Kinematic Method
(The American Society of Mechanical Engineers (ASME), 2025)This article investigates decoupled motion control and dimension optimization of composite notched continuum mechanisms. In general, the end-effectors of endoscopic surgical robots predominantly consist of rigid articulated ... -
A New Method for Motion-Decoupling Identification of Parallel Mechanisms
(The American Society of Mechanical Engineers (ASME), 2025)Motion-decoupling identification (MDI) for parallel mechanism (PM) is a significant issue in the analysis and design of PMs. In general, people use the Jacobian matrix method to determine whether a given PM has motion-decoupling ... -
Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot
(The American Society of Mechanical Engineers (ASME), 2025)Conventional parallel robots are made of rigid materials for the purpose of fast and accurate localization, exhibiting limited performance in large-scale operations. Inspired by the softness and natural compliance of ... -
Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors
(The American Society of Mechanical Engineers (ASME), 2025)Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient but are often constrained by a limited range of gaits which can limit their locomotion ... -
Performance Analysis of a Hexagon Rolling Mechanism With Single Degree of Freedom
(The American Society of Mechanical Engineers (ASME), 2025)This article presents a comprehensive performance analysis of the step-climbing and passive rolling modes of a hexagon rolling mechanism with single-degree-of-freedom, based on its structural characteristics and the ...