Journal of Mechanisms and Robotics: Recent submissions
Now showing items 21-40 of 1651
-
Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance
(The American Society of Mechanical Engineers (ASME), 2025)Respiratory assistance is of significant importance for achieving pulmonary rehabilitation in individuals with weakened respiratory muscles. Soft actuators have great potential in rehabilitation application; yet, there is ... -
Necessary and Sufficient Design Conditions for Overconstrained Cam Mechanisms With Flat-Faced and Roller Follower
(The American Society of Mechanical Engineers (ASME), 2025)Cam, a mechanism usually used to transform a rotary motion into the desired output motion, has been commonly used in the modern industry. In practice, various practical methods have been discussed to analyze and synthesize ... -
On the Climbing Ability of Passively Suspended Tracked Robots
(The American Society of Mechanical Engineers (ASME), 2025)This article investigates the obstacle-climbing ability of a novel passively articulated robot, Polibot, which is compared to a standard tracked robot using a fixed-wheel configuration. Two test cases are analyzed: the ... -
Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace
(The American Society of Mechanical Engineers (ASME), 2025)To address the issues of strong motion coupling, high control difficulty, and insufficient degrees-of-freedom (DoFs) in existing bio-syncretic parallel hip exoskeletons, a design scheme characterized by weak coupling is ... -
Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2025)Cable-driven parallel robots (CDPRs) have attracted much attention due to a lot of advantages over conventional parallel robots. One of the main issues is the stability of the robot, which employs cables with strong ... -
Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons
(The American Society of Mechanical Engineers (ASME), 2025)In response to elderly individuals and stroke patients with weakened lower limb muscle strength, this study proposes a multi-joint soft lower limb assistive exoskeleton designed to assist hip and knee joint flexion and ... -
Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator
(The American Society of Mechanical Engineers (ASME), 2025)We present a position and orientation controller for a hybrid rigid-soft manipulator arm where the soft arm is extruded from a two degrees-of-freedom rigid link. Our approach involves learning the dynamics of the hybrid ... -
Error Propagation Analysis of Kinematic Quantities for Robots and Mechanisms
(The American Society of Mechanical Engineers (ASME), 2025)We introduce a comprehensive methodology for calculating the propagation of errors in kinematic quantities up to the jerk for robotic systems and mechanical linkages. Our study utilizes two distinct computational approaches: ... -
A Robust Algorithm for Solving Heterogeneous Systems of Equations Arising in Kinetostatics of Compliant Mechanisms
(The American Society of Mechanical Engineers (ASME), 2025)Design and analysis of compliant mechanisms draw constraints from both kinematics and statics, resulting in heterogenous systems of equations. This heterogeneity makes the system numerically ill conditioned and not amenable ... -
A Micro-Deformation Model of Parallel Manipulators in the Gravity Field
(The American Society of Mechanical Engineers (ASME), 2025)Establishing a microelastic deformation (micro-deformation) model of parallel manipulators (PMs) in the gravity field is of great significance for improving the calibration accuracy. Gravity affects the limb constraint ... -
Full Forward Solution of Large Deflection, End Loaded Cantilever Beams Using Elliptic Integrals
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents an algorithm to solve for all solutions to the forward problem for large deflections of inextensible end loaded Euler beams, a problem often encountered in compliant mechanism design and analysis. The ... -
Path Generative Model Based on Conditional β-Variational Auto Encoder for Four-Bar Mechanism Design
(The American Society of Mechanical Engineers (ASME), 2024)This article introduces a novel methodology based on conditional β-variational autoencoder (cβ-VAE) architecture to generate diverse types of planar four-bar mechanisms for a given coupler curve. Central to our contribution ... -
Chained Timoshenko Beam Constraint Model With Applications in Large Deflection Analysis of Compliant Mechanism
(The American Society of Mechanical Engineers (ASME), 2025)Accurately analyzing the large deformation behaviors of compliant mechanisms has always been a significant challenge in the design process. The classical Euler–Bernoulli beam theory serves as the primary theoretical basis ... -
Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter
(The American Society of Mechanical Engineers (ASME), 2024)This article presents the design and development of Scissorbot, a novel mid-flight reconfigurable geometry quadcopter that reduces its lateral-span using a single servomotor coupled with a compact bevel differential gearbox. ... -
Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction
(The American Society of Mechanical Engineers (ASME), 2024)Cable-driven robots are characterized by a large workspace, high speed, and load-to-weight ratio, providing a new technology approach for large-scale autonomous 3D construction of lunar surface shelters. A novel deployable ... -
Topology Optimization of Compliant Grippers Based on Stress Constraints
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents a topology optimization method of compliant grippers considering stress constraints. The proportional topology optimization (PTO) algorithm is applied to the design of compliant grippers, and it is ... -
T1-Positions of Four-Bar Linkages
(The American Society of Mechanical Engineers (ASME), 2024)This paper deals with the hitherto unexplored problem of determining the T1-positions of the first-kind of the coupler link for all types of 4R four-bar linkages. Geometrical proofs for the existence and number of T1-positions ... -
Chained Spatial Beam Adomian Decomposition Model: A Novel Model of Flexible Slender Beams for Large Spatial Deflections
(The American Society of Mechanical Engineers (ASME), 2024)The main element of compliant mechanisms and continuum robots is flexible slender beams. However, the modeling of beams can be complicated due to the geometric nonlinearity becoming significant at large elastic deflections. ... -
Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input
(The American Society of Mechanical Engineers (ASME), 2024)The tendon−sheath mechanism (TSM) has garnered attention for its versatile applications in soft robotics, robotic hands, and surgical robots due to its adeptness in transmitting force through tortuous and narrow channels. ... -
Analysis of Force Distribution and Motion Characteristic of Hybrid-Driven Tensegrity Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2024)Tensegrity parallel mechanisms is a novel spatial structure composed of cable-based and rigid-based chains, which is characterized by lightweight, multi-stability, high precision, good stiffness, and high load-bearing ...