Browsing Journal of Mechanisms and Robotics by Issue Date
Now showing items 1-20 of 1597
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Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism
(The American Society of Mechanical Engineers (ASME), 1/17/2023 )To rapidly analyze the dynamic characteristics of a compliant stroke amplification mechanism (CSAM) with completely distributed compliance, an analytical model based on the dynamic stiffness matrix with consideration of ... -
A Modeling and Calibration Method of Heavy-Duty Automated Fiber Placement Robot Considering Compliance and Joint-Dependent Errors
(The American Society of Mechanical Engineers (ASME), 1/18/2023 )The accuracy of industrial robots is critical in many manufacturing applications. In this case, a self-developed automated fiber placement heavy-duty robot is used for the lay-up of carbon fiber composite prepregs, which ... -
An Analytical Stress–Deflection Model for Fixed-Clamped Flexures Using a Pseudo-Rigid-Body Approach
(The American Society of Mechanical Engineers (ASME), 1/18/2023 )Fixed-clamped flexures are one common component of compliant mechanisms which remain difficult to design due to their unique force– and stress–deflection profiles. In this work, an analytical stress-deflection model for ... -
Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
(The American Society of Mechanical Engineers (ASME), 1/18/2023 )This article proposes an adaptive fractional-order fast-terminal-type sliding mode control method to solve the trajectory tracking problem of the underwater vehicle-manipulator system in the presence of large dynamic ... -
Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes
(The American Society of Mechanical Engineers (ASME), 1/18/2023 )The primary contribution of the paper is a proposal of a method to minimize the angular positioning error in the process of transferring cuboidal objects between oblique friction force fields generated by two conveyors ... -
Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand
(The American Society of Mechanical Engineers (ASME), 1/18/2023 )The development of flexible multidigital grippers with both adaptive grasping and in-hand manipulation capabilities remains a complex issue for human-like dexterous manipulation. After four decades of research in dexterous ... -
Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures
(The American Society of Mechanical Engineers (ASME), 1/23/2023 )Bifurcation behavior analysis is the key part of mobility in the application of origami-inspired deployable structures because it opens up more allosteric possibilities but leads to control difficulties. A novel tracking ... -
Kinetostatic Analysis of Pneumatic Bending Soft Actuator Coupling With Revolute Joint
(The American Society of Mechanical Engineers (ASME), 1/23/2023 )This paper presents the kinetostatic analysis of pneumatic bending soft actuator coupling with revolute joint, aimed to discover the bending performance of soft actuator wearing on physical joint of human body as exoskeleton. ... -
Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
(The American Society of Mechanical Engineers (ASME), 1/23/2023 )The tracking control of tendon-driven manipulators has recently become a hot topic. However, the flexible elastic tendon introduces greater residual vibration, making it more difficult to control the trajectory tracking ... -
Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms
(The American Society of Mechanical Engineers (ASME), 1/23/2023 )Compliant mechanisms (CMs) have presented its inherently advantageous properties due to the fact that CMs utilize elastic deformation of the elementary flexible members to transfer motion, force, and energy. Previously, ... -
Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
(The American Society of Mechanical Engineers (ASME), 1/23/2023 )This article presents the design, development, and motion control of a novel flexible robotic laparoscope (FRL). The main structure of the FRL includes a two degrees-of-freedom (DOFs) continuum mechanism driven by two pairs ... -
Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
(The American Society of Mechanical Engineers (ASME), 1/25/2023 )An enhanced inverse dynamics approach is here presented for feedforward control of underactuated multibody systems, such as mechanisms or robots where the number of independent actuators is smaller than the number of degrees ... -
Multi-Branch Cellular Space Robot Mechanism Design and Climbing Behavior Research
(The American Society of Mechanical Engineers (ASME), 1/30/2023 )Current space engineering projects such as large space structure erection and spacecraft maintenance tasks require robots with space truss climbing capability. To adapt to the complex climbing environment, this paper ... -
Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm
(The American Society of Mechanical Engineers (ASME), 11/10/2022)This study aims to make approximate motion generation that has multiple solutions to facilitate the selection of the best mechanism parameters. Therefore, an approximate synthesis method for an epicyclic gear train (EGT) ... -
A Novel Design of a Multi-Fingered Bionic Hand With Variable Stiffness for Robotic Grasp
(The American Society of Mechanical Engineers (ASME), 11/10/2022)The robotic hand plays an extremely significant role in completing various robotic tasks, especially for a robot to complete different grasping tasks. In this paper, we propose a novel multi-fingered bionic hand with ... -
An Energy-Saving Snake Locomotion Pattern Learned in a Physically Constrained Environment With Online Model-Based Policy Gradient Method
(The American Society of Mechanical Engineers (ASME), 11/10/2022)Snake robots, composed of sequentially connected joint actuators, have recently gained increasing attention in the industrial field, like life detection in narrow space. Such robots can navigate the complex environment via ... -
Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger
(The American Society of Mechanical Engineers (ASME), 11/10/2022)Prior research on robotic hands predominantly focused on high degrees-of-freedom of fully actuated fingers to replicate a natural human hand or on creative designs of underactuated fingers to make a self-adaptive motion. ... -
Kinematic Analysis and Workspace Investigation of Novel 3-RPS/(H) Metamorphic Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 11/10/2022)3-RPS/(H) Metamorphic parallel mechanism based on conventional mechanisms is proposed in this study. In contrast to the 3-RPS mechanism, the 3-RPS/(H) mechanism comprises a novel intermediate metamorphic limb. The different ... -
Evaluation on Redundancy-Induced Rigidity Enhancement of a Parallel Manipulator
(The American Society of Mechanical Engineers (ASME), 11/10/2022)Redundantly actuated parallel manipulator (RAPM) has been proved to have comparative advantages of higher rigidity and higher payload over other parallel manipulators. This paper is to quantitatively reveal the effect of ... -
Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions
(The American Society of Mechanical Engineers (ASME), 11/10/2022)This article unifies the approaches of kinematic and static modeling, and singularity analysis for tendon-driven parallel continuum robots under constant curvature as well as pseudo-rigid-body assumptions with those ...