Journal of Mechanisms and Robotics: Recent submissions
Now showing items 61-80 of 1651
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Design of High-Performance Triple-Axis Cross Pivots
(The American Society of Mechanical Engineers (ASME), 2024)Cross-axis flexural pivots are increasingly implemented in mechanical systems due to their high precision and wide range of motion. However, designing high-performance pivots in terms of low-axis drift, low rotational ... -
A Systematic Procedure of Transfer Matrix Method to Analyze Compliant Mechanisms With Irregularly Connected Building Blocks
(The American Society of Mechanical Engineers (ASME), 2025)Kinetostatic and dynamic analyses are of significance in designing compliant mechanisms. The design challenge of complex configurations with irregular building blocks, however, not only leads to difficult modeling but would ... -
Design and Analysis of a Bimanual Parallel Dexterous Hand With Cooperative Manipulation Capability
(The American Society of Mechanical Engineers (ASME), 2025)A bimanual parallel dexterous hand with cooperative manipulation capability is proposed to solve the problem that one hand cannot achieve continuous in-hand manipulation. The bimanual parallel dexterous hand is composed ... -
On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots
(The American Society of Mechanical Engineers (ASME), 2025)Wire-actuated/tendon-actuated mechanisms suffer from discontinuity in their performance measures stemming from the limitation of unilateral actuation due to tendon actuation (pull-only actuation). Using traditional ... -
A Combined Strategy for Path Planning of Tensegrity Manipulators Considering Structural Stability
(The American Society of Mechanical Engineers (ASME), 2024)A strategy combining an improved rapidly exploring random tree (RRT) method with the artificial potential field (APF) method is proposed for the path planning of flexible tensegrity manipulators considering typical complex ... -
Cooperative Object Transport Via Non-Contact Prehensile Pushing by Magnetic Forces
(The American Society of Mechanical Engineers (ASME), 2024)Cooperative robot systems are an essential candidate for object transportation solutions. They offer cost-efficient and flexible operation for various types of robotic tasks. The benefits of cooperative robot systems have ... -
Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System
(The American Society of Mechanical Engineers (ASME), 2024)Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This article provides the mechanical, electrical, and software design of a novel ... -
Push Recovery of a Biped in Different Stance Scenarios
(The American Society of Mechanical Engineers (ASME), 2024)Push recovery of a biped robot is challenging because of the complexity of biped locomotion contributed by its constraints. The present work proposes a novel optimized control methodology for push recovery against external ... -
A New Planar Overconstrained Mechanism Generated by Merging Two Symmetric Watt’s Six-Bar Linkages that Perform Gear-Like Motion
(The American Society of Mechanical Engineers (ASME), 2024)This article explores the synthesis of a planar overconstrained mechanism potentially for a folding hinge application. Inspired by a folding hinge patent from a phone company, the author analyzes the linkage and discovers ... -
A Novel Delta-Like Parallel Robot With Three Translations and Two Pitch Rotations for Peg-in-Hole Assembly
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents a novel 5-degree-of-freedom (5-DOF) delta-like parallel robot named the double-pitch-delta robot, which can output three translations and two pitch rotations for peg-in-hole assembly. First, the kinematic ... -
Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper
(The American Society of Mechanical Engineers (ASME), 2024)We developed a small jumping mechanism inspired by planthopper. The planthopper jump is characterized by two functions of the hind legs; the leg synchronization using physical contact of the trochanter head and the power ... -
Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
(The American Society of Mechanical Engineers (ASME), 2024)Euler–Lagrange's formulation is known for its systematic and simplified approach to deriving dynamics of complex systems. In order to apply the existing formulation to human gait dynamics, the base reference frame must be ... -
Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator
(The American Society of Mechanical Engineers (ASME), 2024)In this paper, a spherical parallel continuum manipulator (SPCM) which is the flexible version of the 3-RRR“Agile Eye” mechanism is proposed and analyzed. The SPCM consists of three parallel flexible limbs, each limb is ... -
Kinetostatic Modeling of an Asymmetrical Double-Stepped Beam for Displacement Amplification
(The American Society of Mechanical Engineers (ASME), 2024)A kinetostatic model of an asymmetrical double-stepped beam under axial loading is developed. The beam is composed of two thick segments and three thin segments where a thick segment is between two thin segments, and the ... -
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 ...