Journal of Mechanisms and Robotics: Recent submissions
Now showing items 101-120 of 1651
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A Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace
(The American Society of Mechanical Engineers (ASME), 2024)In the realm of cable-driven parallel robots (CDPRs), the conventional notion entails that each cable is directly actuated by a corresponding actuator, implying a direct relationship between the number of cables and ... -
Design and Motion Planning of a Cable Robot Utilizing Cable Slackness
(The American Society of Mechanical Engineers (ASME), 2024)Extending the workspace of cable robots can enhance their motion ability and help us make fuller use of their potential. This work designs a novel cable robot and utilizes cable slackness to extend its workspace. First, ... -
Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases
(The American Society of Mechanical Engineers (ASME), 2024)Rigid foldability is a special property of rigid origami patterns, where each origami plane remains undeformed during continuous movement along the predetermined crease. Current research on the rigid foldability of origami ... -
Design of an Underactuated, Flexure-Based Gripper, Actuated Through a Push–Pull Flexure
(The American Society of Mechanical Engineers (ASME), 2024)The design of grippers for the agro-industry is challenging. To be cost-effective, the picked object should be moved around fast requiring a firm grip on the fruit of different hardnesses, shapes, and sizes without causing ... -
Force-Motion Coupled Mechanism Synthesis Method of Heavy Load Parallel Kinematic Mechanism for Multi-DoF Forming Process
(The American Society of Mechanical Engineers (ASME), 2025)At present, the design of parallel kinematic mechanism (PKM) generally starts from type synthesis based on the motion pattern and then the dimensions are synthesized based on performance requirements. The synthesized type ... -
A Screw Theory Approach for Instantaneous Kinematic Analysis of Parallel–Serial Manipulators
(The American Society of Mechanical Engineers (ASME), 2024)The paper presents an approach to perform an instantaneous kinematic analysis of parallel–serial (hybrid) manipulators using screw theory. In this study, we focus on non-kinematically redundant manipulators that include a ... -
An Efficient Integral Approach for Kinematic Reliability Sensitivity Analysis of Industrial Robots
(The American Society of Mechanical Engineers (ASME), 2024)Assessment of the reliability and reliability sensitivity of positioning accuracy for industrial robots subject to aleatoric and epistemic uncertainties registers a challenging task. This study proposes a new optimized ... -
Theoretical Analysis of Workspace of a Hybrid Offset Joint
(The American Society of Mechanical Engineers (ASME), 2024)Offset joints are widely used in robotics, and literature has demonstrated that axial offset joints can expand the workspace. However, the hybrid offset joint, which incorporates offsets in three orthogonal directions (x, ... -
Stability Conditions and Stiffness Variability of General Tensegrity Systems With Kinematic Joints
(The American Society of Mechanical Engineers (ASME), 2025)Tensegrity systems represent promising candidate mechanisms with in situ stiffness variability through changing the cables’ prestress levels. However, prestress-based stiffness behaviors of tensegrity systems with arbitrary ... -
Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra
(The American Society of Mechanical Engineers (ASME), 2024)Multi-loop coupling mechanisms (MCMs) have been widely used in aerospace engineering, architectural design, and outdoor activities. This paper proposes a general method for analyzing the singularities of MCMs using geometric ... -
An Origami-Enabled Soft Linear Actuator and Its Application on a Crawling Robot
(The American Society of Mechanical Engineers (ASME), 2024)Soft linear actuators have strong deformation ability and good environmental adaptability, which have been widely used in soft robot design. However, little work has focused on designing soft linear actuators with balanced ... -
Comparison Analysis of Bio-Inspired Tendon-Driven Manipulators Based on Their Tension-Feasible Workspace
(The American Society of Mechanical Engineers (ASME), 2024)Bio-inspiration can be used in the development of novel dextrous and energy-efficient manipulators. This paper focuses on planar manipulators inspired by the bird neck, built upon stacking a series of tensegrity X-joints. ... -
Exact Solutions of the Mixed Motion and Path Synthesis Problem for Four-Bar Linkages
(The American Society of Mechanical Engineers (ASME), 2025)An algebraic method is proposed in this work to find multiple exact solutions to the mixed motion and path synthesis problem. A system of synthesis equations is established based on Burmester theory, which is further ... -
Synthesis and Analysis of Stephenson III Six-Bar Motion Generators With an Instantaneous Stop Link
(The American Society of Mechanical Engineers (ASME), 2024)This article deals with the synthesis and analysis of Stephenson III six-bar motion generators with, a coupler link instantaneous stop of the five-bar loop and a crank-driven four-bar loop. The proposed design procedure ... -
Fourth-Order Accurate Strain-Parameterized Shape Representation of Beam Elements for Modeling Continuum Robots and Robotic Manipulation of Slender Objects
(The American Society of Mechanical Engineers (ASME), 2024)Soft rods and tubular elements are the main building blocks of continuum robots. Kinetostatic models along with a geometrically exact description of the kinematics on SE(3) are now an established foundation for simulation ... -
Active Cables Selection for Collocated Vibration Control of Small-Sized Overconstrained Cable-Driven Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2025)Cable-driven parallel robots (CDPRs) are well appreciated for high dynamics applications, due to their lightweights moving parts. Nevertheless, due to the low stiffness of cables, vibrations can occur and can degrade ... -
Elastostatic Performance Evaluation of a Full-Mobility Parallel-Kinematics Machine With Flexible Links
(The American Society of Mechanical Engineers (ASME), 2025)The subject of this article is the elastostatics of a novel three-limb, full-mobility parallel-kinematics machine (PKM) with flexible links, intended for high-frequency, small-amplitude operations. The objective is to ... -
Design of Rolling Motion for Snake-Like Robots Using Center-of-Gravity Shift
(The American Society of Mechanical Engineers (ASME), 2025)The snake-like robot can travel over environments that are difficult for wheeled mobility mechanisms. However, undulating locomotion requires high power consumption. We propose an efficient method that integrates the ... -
Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy
(The American Society of Mechanical Engineers (ASME), 2024)Overconstrained parallel manipulators (PMs) without actuation redundancy have been widely used in various applications, such as the parallel module of the Exechon robot for workpiece machining. However, existing methods ... -
Investigation on a Class of 2D Profile Amplified Stroke Dielectric Elastomer Actuators
(The American Society of Mechanical Engineers (ASME), 2024)Dielectric elastomer actuators (DEAs) have been widely studied in soft robotics due to their muscle-like movements. Linear DEAs are typically tensioned using compression springs with positive stiffness or weights directly ...