Journal of Mechanisms and Robotics: Recent submissions
Now showing items 21-40 of 1597
-
Cable Path Analysis and Kinematic Control of a Cable-Driven Parallel Robot Allowing Cables to Wrap on Cylinders or Spheres
(The American Society of Mechanical Engineers (ASME), 2024)Scholars have proposed to allow cables to wrap on the base, the end-effector, or obstacles to expand the workspace of a cable-driven parallel robot (CDPR) in recent years. However, it is not entirely clear whether the path ... -
Analysis of Instantaneous Kinematic Properties Regarding the Shape of Robotic Mechanisms
(The American Society of Mechanical Engineers (ASME), 2024)A theoretical framework for analyzing instantaneous kinematic properties regarding the shape of robotic mechanisms is proposed. Conventional research on kinematic analysis regarding the shape has been conducted with the ... -
A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators
(The American Society of Mechanical Engineers (ASME), 2025)This article presents a control strategy for the stiffness regulation of parallel manipulators based on the implementation of a simple proportional controller. Starting from the assignment of the stiffness or compliance ... -
Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators
(The American Society of Mechanical Engineers (ASME), 2025)The inverse design of soft actuators refers to a design methodology that derives the actuator's geometric and material parameters based on the desired target shape. This approach offers an efficient solution for developing ... -
An Ultrasound-Guided Miniature Hand-Eye Integrated Robot for Percutaneous Needle Placement
(The American Society of Mechanical Engineers (ASME), 2025)Ultrasound-guided percutaneous puncture technology has advantages such as intra-operative real-time imaging, noninvasive operation, high targeting accuracy, nonionizing radiation, and low cost. However, traditional ... -
Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation
(The American Society of Mechanical Engineers (ASME), 2024)Exoskeleton robotics is a key technology in the field of physical rehabilitation, and the main research direction is to precisely control the exoskeleton structure with improved dexterity. Bowden-cables are uniquely ... -
Kinematic Analysis and Trajectory Planning of Multi-Segment Continuum Manipulator
(The American Society of Mechanical Engineers (ASME), 2024)The flexible or continuum manipulators present excellent dexterity in confined space, which is beneficial to wide application prospects in many fields. In this paper, we establish the kinematic model and propose a trajectory ... -
Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot
(The American Society of Mechanical Engineers (ASME), 2024)Research in quadrupedal robotics is transitioning to studies into loco-manipulation, featuring fully articulated robotic arms mounted atop these robots. Integrating such arms enhances the practical utility of legged robots, ... -
Parallel Force Feedback Device Design With Constant Jacobian Matrix and Net Weight Fully Balanced
(The American Society of Mechanical Engineers (ASME), 2024)Force feedback devices offer realistic and intuitive feedback to operators, and achieving higher accuracy and transparency has been a prominent research focus in this field. However, errors in real-time force or position ... -
The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains
(The American Society of Mechanical Engineers (ASME), 2024)Understanding legged locomotion in various environments is valuable for many fields, including robotics, biomechanics, rehabilitation, and motor control. Specifically, investigating legged locomotion in compliant terrains ... -
Gait Generation of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model
(The American Society of Mechanical Engineers (ASME), 2024)Gait generation of a humanoid robot on a deformable terrain is a complex problem as the foot and terrain interaction and terrain deformation have to be included in the dynamics. To simplify the dynamics of walk on deformable ... -
A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots
(The American Society of Mechanical Engineers (ASME), 2024)Head-following (tracking) issue is a challenge in developing multijoint continuum robots. However, various approaches have been developed in head-following algorithm for articulated-driven mechanism (ADM) continuum robots, ... -
Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents a strategy for stable topological in-operation-reconfiguration of cable-driven parallel robots. The term topological refers to the addition or removal of active cables and thus to changing the topology ... -
An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations
(The American Society of Mechanical Engineers (ASME), 2024)This article presents the feasibility study and preliminary testing of an underactuated cable-driven parallel robot for automated launch and recovery operations on the sea surface. The robot frame is mounted onto a primary ... -
Coactivation in Symmetric Four-Bar Mechanisms Antagonistically Actuated by Cables
(The American Society of Mechanical Engineers (ASME), 2024)In biological systems, the joints are actuated antagonistically by muscles that can be moved coherently to achieve the desired displacement and coactivated with appropriate forces to vary joint stiffness. Inspired by this, ... -
Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators
(The American Society of Mechanical Engineers (ASME), 2024)Fast inverse kinematics (IK) algorithm is significant for real-time precise motion control for continuum and soft manipulators. In this paper, we studied an explicit expression of a two-segment continuum manipulator based ... -
Cable Force Distribution and Motion Control for a Cable-Driven Super-Redundant Robot Under Stiffness Constraints
(The American Society of Mechanical Engineers (ASME), 2025)Cable-driven super-redundant robots (CDSSR) with slender and flexible bodies have wide application potential in narrow spaces. However, the control accuracy of the robot is affected by the instability of the operating ... -
An Undulating Kirigami Pattern With Enhanced Tear Strength
(The American Society of Mechanical Engineers (ASME), 2025)Kirigami, the cutting and folding of sheets, can create useful three-dimensional shapes from flat sheets of material. Some kirigami patterns self-deploy from their flat state when tension is applied; we call these ... -
One-Step Solving the Robot-World and Hand–Eye Calibration Based on the Principle of Transference
(The American Society of Mechanical Engineers (ASME), 2024)Principle of transference is very important in the kinematic analysis of spatial mechanisms, which enables the extension of point transformations to line transformations inbuilt with the dual mapping. An ideal conceptualization ... -
Design and Analysis of a New Non-Parasitic Parallel Mechanism for 2T1R Motion
(The American Society of Mechanical Engineers (ASME), 2024)Two-limb parallel mechanisms (PMs) can have several advantages, such as avoidance of mechanical collision, fairly simple architecture, easy assembly, and large workspace. The paper presents a novel two-limb three-degree-of-freedom ...