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Journal of Mechanisms and Robotics
EISSN: 1942-4310
ISSN: 1942-4302
Priority: 6
Publisher: American Society of Mechanical Engineers
Description: The Journal of Mechanisms and Robotics publishes research contributions to the fundamental theory, algorithms, and applications for robotic and machine systems More ...
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RISClearance-Induced Position Uncertainty of Planar Linkages and Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The paper presents a simple and effective kinematic model and methodology to assess and evaluate the extent of the position uncertainty caused by joint clearances for multiple-loop linkage and manipulators connected with ...
A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The classic Burmester problem is concerned with computing dimensions of planar four-bar linkages consisting of all revolute joints for five-pose problems. We define extended Burmester problem as the one where all types of ...
A Design Tool for a Single Vertex Compliant-Facet Origami Mechanism Including Torsional Hinge Lines
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Principles from origami art are applied in the design of mechanisms and robotics increasingly frequent. A large part of the application driven research of these origami-like mechanisms focuses on devices where the creases ...
Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a two translational and two rotational (2T2R) four-degrees-of-freedom (DOF) parallel kinematic mechanism (PKM) designed as a knee rehabilitation and diagnosis mechatronics system. First, we establish ...
Modeling of Dive Maneuvers for Executing Autonomous Dives With a Flapping Wing Air Vehicle
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper is focused on design of dive maneuvers that can be performed outdoors on flapping wing air vehicles (FWAVs) with a minimal amount of on-board computing capability. We present a simple computational model that ...
Locomotion of a Mini Bristle Robot With Inertial Excitation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The paper presents a theory of vibratory locomotion, a prototype, and the results of experiments on mini robot, which moves as a result of inertial excitation provided by two electric motors. The robot is equipped with ...
Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Two kinds of mechanical redundancies, namely kinematic redundancy and actuation redundancy, have been extensively studied due to their advantageous features in autonomous industry. Screw theory has been successfully applied ...
Design and Development of a Compact High-Torque Robotic Actuator for Space Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Space robots require compact joint drive systems (JDSs), typically comprising of actuator, transmission, joint elements that can deliver high torques through stiff mechanical ports. Today's conventional space drive systems ...
Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A gravity equilibrator is a statically balanced system which is designed to counterbalance a mass such that any preferred position is eliminated and thereby the required operating effort to move the mass is greatly reduced. ...
Dynamic Structural and Contact Modeling for a Silicon Hexapod Microrobot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper examines the dynamics of a type of silicon-based millimeter-scale hexapod, focusing on interaction between structural dynamics and ground contact forces. These microrobots, having a 5 mm × 2 mm footprint, are ...