Journal of Mechanisms and Robotics: Recent submissions
Now showing items 41-60 of 1707
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Associate Editor's Recognition
(The American Society of Mechanical Engineers (ASME), 2025)The Editor-in-Chief of the ASME Journal of Mechanisms and Robotics would like to thank all the Associate Editors for their expertise and time reviewing manuscripts in 2024. Serving as an Associate Editor for the journal ... -
Reviewer’s Recognition
(The American Society of Mechanical Engineers (ASME), 2025)The Editor and Editorial Board of the Journal of Mechanisms and Robotics would like to thank all of the reviewers for volunteering their expertise and time reviewing manuscripts in 2024. Serving as reviewers for the journal ... -
The Synthesis of Spherical Four-Bars for Biomimetic Motion Through Complete Solutions for Approximate Rigid Body Guidance
(The American Society of Mechanical Engineers (ASME), 2025)In this article, we form a constrained optimization problem for spherical four-bar motion generation. Instead of using local optimization methods, all critical points are found using homotopy continuation solvers. The ... -
Construction of Confidence Regions for Uncertain Spatial Displacements With Dual Rodrigues Parameters
(The American Society of Mechanical Engineers (ASME), 2025)This article follows our recent work on the computation of kinematic confidence regions from a given set of uncertain spatial displacements with specified confidence levels. Dual quaternion algebra is used to compute the ... -
State-Space Basins for Monopedal Jumping With Stable Landing
(The American Society of Mechanical Engineers (ASME), 2024)Maintaining stability in jumping robots remains a challenge due to their hybrid dynamics. Despite recent advances, existing research lacks a clear definition and comprehensive criteria for jumping stability. To address ... -
Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands
(The American Society of Mechanical Engineers (ASME), 2024)In this paper, we present a novel three-degree-of-freedom (3-DoF) series-parallel hybrid mechanism for a robotic finger that is capable of abduction/adduction and flexion/extension. The series-parallel fingers proposed in ... -
Magnetically-Actuated Endoluminal Soft Robot With Electroactive Polymer Actuation for Enhanced Gait Performance
(The American Society of Mechanical Engineers (ASME), 2024)Endoluminal devices are indispensable in medical procedures in the natural lumina of the body, such as the circulatory system and gastrointestinal tract. In current clinical practice, there is a need for increased control ... -
Motion Planning for Nonprehensile Object Manipulation Using Novel 5-Bar Linkage
(The American Society of Mechanical Engineers (ASME), 2024)Nonprehensile manipulation is a concept of performing a manipulation task without the need for grasping and is a common mechanism found in nature, such as the dung beetle, to manipulate large and heavy objects across an ... -
Designing Multi-axis Compliant Mechanisms With Lockable Decoupled Inputs: A Tip–Tilt Case Study
(The American Society of Mechanical Engineers (ASME), 2024)This research is about designing multi-degree-of-freedom (multi-DOF) compliant mechanisms with decoupled inputs that can be independently locked/unlocked using bistable switches to achieve different combinations of DOFs. ... -
Origami-Inspired Collapsible Structures for Small Rotorcraft Collision Resilience and Landing
(The American Society of Mechanical Engineers (ASME), 2024)This article reports on the design, fabrication, and testing of flexible, collapsible structures inspired by origami and kirigami that can be used to protect small rotorcraft from collision impacts and to serve as landing ... -
Modeling and Analysis of Inter-Panel Slipping for the Design of Rolled Gossamer Arrays
(The American Society of Mechanical Engineers (ASME), 2024)Many deployable satellite systems benefit from having low mass and high surface area, which has led to the proliferation of gossamer structures in space-based applications. Gossamer structures are characterized by lightweight, ... -
Type Synthesis of a Novel Class of One-DOF Multi-Mode Parallel Mechanisms
(The American Society of Mechanical Engineers (ASME), 2024)Multi-mode parallel mechanisms (PMs) are a class of reconfigurable mechanisms that can switch between different operation modes without the need for disconnection and reassembly. Although a number of multi-DOF multi-mode ... -
Optimal Curve Fitting for Serial Chain in Six-Crease Origami Unit
(The American Society of Mechanical Engineers (ASME), 2024)Origami-inspired structures have been widely used in aerospace and robotics for three-dimensional (3D) symmetrical configurations using crease-symmetrical origami basic patterns. These patterns offer advantages in repeatable ... -
The Bressesque Surface: Distribution of Screw Pitch
(The American Society of Mechanical Engineers (ASME), 2024)Presented is an overview of the T-N interpretation of the famous planar Euler–Savary formula. The T-N spatial analog interpretation consists of two components: the established axial component along with a new transverse ... -
FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning
(The American Society of Mechanical Engineers (ASME), 2024)This article presents a collision-free global path planning approach for multirobot systems called flexible formation—rapidly exploring randomized trees* (FF-RRT*). The algorithm is based on RRT* and provides a flexible ... -
Cable Tension Minimization of a Redundant Cable-Driven Robot With Flexible End Effector
(The American Society of Mechanical Engineers (ASME), 2025)The operation of robots in narrow spaces is a challenge in aerospace engineering. In order to fulfill the working requirements within some specific narrow space, this article proposes a design and optimization method for ... -
An Improved Dual Quaternion Dynamic Movement Primitives-Based Algorithm for Robot-Agnostic Learning and Execution of Throwing Tasks
(The American Society of Mechanical Engineers (ASME), 2025)Inspired by human nature, roboticists have conceived robots as tools meant to be flexible, capable of performing a wide variety of tasks. Learning from demonstration methods allow us to “teach” robots the way we would ... -
Design and Modeling of an Expandable Bending Actuator With Multiple Pneumatic Sources
(The American Society of Mechanical Engineers (ASME), 2025)This article describes the design and modeling of an expandable and inflatable bending actuator with multiple pneumatic sources. The actuator includes independent pneumatic modules sewn onto a flexible, nonstretch fabric ... -
A Conformal Geometric Algebra Method for Inverse Kinematics Analysis of 6R Robotic Arm
(The American Society of Mechanical Engineers (ASME), 2025)Addressing the issue of angle multiplicity in solving joint angles using cosine expressions within the context of conformal geometric algebra for inverse kinematics analysis, an extended method for joint angle determination ... -
Dynamic Manipulability for a Two-Link Manipulator Driven By Pneumatic Artificial Muscles and Passive Springs
(The American Society of Mechanical Engineers (ASME), 2025)In the case of manipulators actuated by unidirectional pneumatic artificial muscles (PAMs) and passive restoring springs, the system parameters and spring stiffness affect the reachable workspace and the dynamic manipulability. ...