Browsing Journal of Mechanisms and Robotics by Title

Now showing items 1-20 of 1481

      • 2023 Reviewers With Distinction Award 

        Unknown author (The American Society of Mechanical Engineers (ASME), 2024)
        The Journal of Mechanisms and Robotics Reviewers with Distinction Award is given to reviewers who have made a meritorious contribution to the journal in terms of the number, quality, and turnaround time of reviews completed ...

      • 21st Century Kinematics: Synthesis, Compliance, and Tensegrity 

        J. Michael McCarthy (The American Society of Mechanical Engineers (ASME), 2011)
        As we move into the second decade of the 21st century, we can identify three research trends that we can expect to persist into the future. They are the analysis and synthesis of (i) spatial ...

      • A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators 

        Lin, Ziying; Xu, Lingmin; Ding, Ye; Zhu, Xiangyang (The American Society of Mechanical Engineers (ASME), 5/2/2023 1)
        Redundantly actuated parallel manipulators with two rotations and one translation (2R1T RAPMs) have the potential for machining complex surfaces, where a large orientation workspace and high stiffness are required. Considering ...

      • A 3-ṞPR Parallel Mechanism With Singularities That are Self-Motions 

        Novona Rakotomanga; Ilian A. Bonev (The American Society of Mechanical Engineers (ASME), 2010)
        The Cartesian workspace of most three-degree-of-freedom parallel mechanisms is divided by Type 2 (also called parallel) singularity surfaces into several regions. Accessing more than one such ...

      • A 3DOF Rotational Parallel Manipulator Without Intersecting Axes 

        Zhen Huang; Jingfang Liu; Shichang Liu; Ziming Chen (The American Society of Mechanical Engineers (ASME), 2011)
        It is difficult to manufacture parallel manipulators (PMs) with multiple revolute joint axes intersecting at one point. These types include the 3DOF spherical parallel manipulators (SPMs), the ...

      • A Bar and Hinge Model for Simulating Bistability in Origami Structures With Compliant Creases 

        Zhu, Yi; Filipov, Evgueni T. (The American Society of Mechanical Engineers (ASME), 2020)
        Active origami structures usually have creases made with soft and compliant plates because it is difficult to fabricate real hinges and actuate them. However, most conventional origami modeling techniques fail to capture ...

      • A Biarticulated Robotic Leg for Jumping Movements: Theory and Experiments 

        J. Babič; Bokman Lim; D. Omrčen; F. C. Park; J. Lenarčič (The American Society of Mechanical Engineers (ASME), 2009)
        This paper investigates the extent to which biarticular actuation mechanisms—spring-driven redundant actuation schemes that extend over two joints, similar in function to biarticular muscles found ...

      • A Bio Inspired Condylar Hinge for Robotic Limbs 

        Etoundi, Appolinaire C.; Burgess, Stuart C.; Vaidyanathan, Ravi (The American Society of Mechanical Engineers (ASME), 2013)
        This paper presents a novel condylar hinge for robotic limbs which was inspired by the human knee joint. The ligaments in the human knee joint can be modeled as an inverted parallelogram fourbar mechanism. The knee joint ...

      • A Buckling Flexure-Based Force-Limiting Mechanism 

        Slocum, Jonathan; Kamrin, Kenneth; Slocum, Alexander (American Society of Mechanical Engineers (ASME), 2019)
        A force-limiting buckling flexure has been created which can be used in a wide range of applications where excessive force from an implement can cause harm or damage. The buckling flexure is monolithic, contains no ...

      • A C-Legged Monopedal Robot and Its Transition From Multiple Locomotion Modes 

        Bai, Guochao; Thomaszewski, Bernhard (The American Society of Mechanical Engineers (ASME), 2020)
        This paper introduces a minimalistic design of a monopedal robot (monobot) with C-shaped legs which can achieve multiple locomotion modes (multi-mode) such as walking, leaping, as well as backward and forward flipping. The ...

      • A Cable Based Active Variable Stiffness Module With Decoupled Tension 

        Zhou, Xiaobo; Jun, Seung; Krovi, Venkat (The American Society of Mechanical Engineers (ASME), 2015)
        Variable stiffness modules add significant robustness to mechanical systems during forceful interactions with uncertain environments. Most existing variable stiffness modules tend to be bulky—by virtue of their use of ...

      • A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism 

        Liu, Yujiong; Wang, Jiamin; Ben-Tzvi, Pinhas (American Society of Mechanical Engineers (ASME), 2019)
        This paper presents the development of a new robotic tail based on a novel cable-driven universal joint mechanism. The novel joint mechanism is synthesized by geometric reasoning to achieve the desired cable length invariance ...

      • A Cable-Driven Parallel Robot With An Embedded Tilt-Roll Wrist 

        Lessanibahri, Saman; Cardou, Philippe; Caro, Stéphane (The American Society of Mechanical Engineers (ASME), 2020)
        This paper addresses the optimum design, configuration, and workspace analysis of a cable-driven parallel robot (CDPR) with an embedded tilt-roll wrist. The manipulator consists in a tilt-roll wrist mounted on the moving ...

      • A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations 

        Métillon, Marceau; Cardou, Philippe; Subrin, Kévin; Charron, Camilo; Caro, Stéphane (The American Society of Mechanical Engineers (ASME), 2021)
        Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. ...

      • A Calibration Method for Enhancing Robot Accuracy Through Integration of Kinematic Model and Spatial Interpolation Algorithm 

        Qi, Junde; Chen, Bing; Zhang, Dinghua (The American Society of Mechanical Engineers (ASME), 2021)
        Industrial robots are finding their niche in the field of machining due to their advantages of high flexibility, good versatility, and low cost. However, limited by the low absolute positioning accuracy, there are still ...

      • A Case Study in Optimization of Gait and Physical Parameters for a Snake-Inspired Robot Based on a Rectilinear Gait 

        James K. Hopkins; Brent W. Spranklin; Satyandra K. Gupta (The American Society of Mechanical Engineers (ASME), 2011)
        Physical parameters of the constituent modules and gait parameters affect the overall performance of snake-inspired robots. Hence, a system-level optimization model needs to concurrently optimize ...

      • A Class of 2 Degree of Freedom Planar Remote Center of Motion Mechanisms Based on Virtual Parallelograms 

        Li, Jianmin; Zhang, Guokai; Xing, Yuan; Liu, Hongbin; Wang, Shuxin (The American Society of Mechanical Engineers (ASME), 2014)
        Robotassisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional technique. The remote centerofmotion (RCM) mechanism is one of the main components of a MIS robot. However, the widely used ...

      • A Class of Symmetrical 3T, 3T-1R, and 3R Mechanisms With Parallel Linear Motion Elements 

        Yang, Yi; Zhang, Wuxiang; Pu, Huayan; Peng, Yan (The American Society of Mechanical Engineers (ASME), 2018)
        A kind of kinematic chain with parallel linear motion elements (PLMEs) is proposed and studied in this paper. Based on screw theory, the kinematic screw equations of these linkages are established. The two special categories ...

      • A Closed-Form Kinematic Model for Fiber-Reinforced Elastomeric Enclosures 

        Felt, Wyatt; David Remy, C. (The American Society of Mechanical Engineers (ASME), 2018)
        In this work, we present a closed-form model, which describes the kinematics of fiber-reinforced elastomeric enclosures (FREEs). A FREE actuator consists of a thin elastomeric tube surrounded by reinforcing helical fibers. ...

      • A Compact 3 Degree of Freedom Spherical Joint 

        Mark L. Guckert; Michael D. Naish (The American Society of Mechanical Engineers (ASME), 2011)
        Spherical joints have evolved into a critical component of many robotic systems, often used to provide dexterity at the wrist of a manipulator. In this work, a novel 3 degree of freedom ...