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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Design of a Novel Linkage for Electronic Parking Brake Transmission Systems
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents a novel mechanical transmission for pulling-cable electronic parking brakes (EPBs). The system is interposed between the brake electric actuator and the brake pads, and it exploits a 2DOF planar linkage ... -
Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach
(The American Society of Mechanical Engineers (ASME), 2024)Manipulators are increasingly being called upon to perform a wide range of tasks. This paper explores the maximal distance throwing task for robotic manipulators and shows that this characteristic can be incorporated in ... -
Design and Testing of a New LARMbot Torso
(The American Society of Mechanical Engineers (ASME), 2024)Developing a robotic torso mechanism is crucial in replicating human mobility in humanoid robots. Previous research has presented the LARMbot humanoid's torso as a potential solution, which has now been improved with a ... -
Design, Modeling, and Control of a Compact and Reconfigurable Variable Stiffness Actuator Using Disc Spring
(The American Society of Mechanical Engineers (ASME), 2024)This paper proposes a compact and reconfigurable variable stiffness actuator (VSA) using disc spring which is named as SDS-VSA (symmetrical disc spring variable stiffness actuator). To enhance the actuator’s torque density, ... -
Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints
(The American Society of Mechanical Engineers (ASME), 2024)This paper applies the kirigami technique to a non-rigid foldable tubular origami to make a rigid foldable tubular design, i.e., a radially closable kirigami (RC-kiri). The laminar emergent torsional (LET) compliant joint ... -
Drive Layout Configuration Strategy and Scale Optimization Design of Multi-Drive Mode Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2024)Aiming at the inherent defects of single-drive mode parallel mechanisms, such as small good workspace and many singular configurations, a new multi-drive mode parallel mechanism is proposed from the perspective of driving ... -
Structural–Parametric Synthesis of the Planar Four-Bar and Six-Bar Function Generators With Revolute Joints
(The American Society of Mechanical Engineers (ASME), 2024)This paper studies a structural–parametric synthesis of the four-bar and Stephenson II, Stephenson III A, and Stephenson III B six-bar function generators. A four-bar function generator is formed by connecting two coordinate ... -
A Compliant Hinge Joint Driven by the PneuNets Bending Actuator
(The American Society of Mechanical Engineers (ASME), 2024)While soft robots enjoy the benefits of high adaptability and safety, their inherent flexibility makes them suffer from low load-carrying capacity and motion precision, which limits their applications to a broader range ... -
On the Construction of Confidence Regions for Uncertain Planar Displacements
(The American Society of Mechanical Engineers (ASME), 2024)This paper studies the statistical concept of confidence region for a set of uncertain planar displacements with a certain level of confidence or probabilities. Three different representations of planar displacements are ... -
Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems
(The American Society of Mechanical Engineers (ASME), 2024)Modeling the nonlinear dynamics of prosthetic feet is an important tool for linking prosthesis mechanical properties to end-user outcomes. There has been a renewed interest in data-driven modeling of dynamical systems, ... -
Kinematics and Performance Analysis of a Deployable 7R Overconstrained Single-Loop Mechanism for Aerospace Platform
(The American Society of Mechanical Engineers (ASME), 2023)This paper studies a special deployable 7R single-loop mechanism (SLM), which is characterized by its overconstraints, 1-DOF, and single-loop structure. Based on these characteristics, a series of performance evaluation ... -
Redundant Serial Manipulator Inverse Position Kinematics and Dynamics
(The American Society of Mechanical Engineers (ASME), 2023)A redundant serial manipulator inverse position kinematic mapping is employed to define a new manipulator operational space differentiable manifold and an associated system of well posed operational space differential ... -
Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction
(The American Society of Mechanical Engineers (ASME), 2023)In recent years, parallel robots have become a hot research topic in trauma fracture treatment because of their high precision, high load capacity, and compact structure. However, parallel robots have disadvantages like ... -
Design of a Novel Large-Stroke Compliant Constant-Torque Mechanism Based on Chained Beam-Constraint Model
(The American Society of Mechanical Engineers (ASME), 2023)This study addressed the development of a novel compliant constant-torque mechanism (CCTM) that utilizes Bezier curved beams to provide a large stroke in the constant-torque operating range. Previous CCTMs are limited by ... -
Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal
(The American Society of Mechanical Engineers (ASME), 2023)Purpose: The purpose of this paper is to investigate the optimal geometrical design of concentric tube robots (CTR) for intracerebral hemorrhage (ICH) evacuation, with a focus on minimizing the risk of damaging white matter ... -
PhyNRnet: Physics-Informed Newton–Raphson Network for Forward Kinematics Solution of Parallel Manipulators
(The American Society of Mechanical Engineers (ASME), 2023)Despite significant performance advantages, the intractable forward kinematics have always restricted the application of parallel manipulators to small posture spaces. Traditional analytical methods and Newton–Raphson ... -
Kinematic Performance Analysis and Dimensional Optimization of New Symmetric Parallel Mechanism 6RPS With Multi-Redundant Actuations
(The American Society of Mechanical Engineers (ASME), 2023)A novel symmetric parallel mechanism 6RPS with multi-redundant actuations is proposed in this paper, which possesses two rotational and one translational degrees-of-freedom. Motion and constraint screw systems of this ... -
Kinematic Design and Prototyping of a Gripper With Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot
(The American Society of Mechanical Engineers (ASME), 2023)A gripper design is adapted to offer grasping and scooping capabilities to a parallel robot. This enables the parallel robot to manipulate not only large objects, but also thin objects lying on flat surfaces. Moreover, ... -
Tapered Origami Tubes With Non-Planar Cross Sections
(The American Society of Mechanical Engineers (ASME), 2023)Rigidly foldable origami tubes are widely used in origami-inspired engineering designs. Here, using a mechanism construction process, we show that these tubes can be combined with tapered adding parts to form new tubes ... -
Toward Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves
(The American Society of Mechanical Engineers (ASME), 2023)Patients who have limited body movement ability need assistance with frequent repositioning and transfers from their caregivers. These common manual tasks are physically strenuous for caregivers. To minimize caregiver ...