Journal of Mechanisms and Robotics: Recent submissions
Now showing items 241-260 of 1771
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Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
(The American Society of Mechanical Engineers (ASME), 2024)In this paper, we propose a novel passive parallel continuum ankle exoskeleton that can provide assistive torque during ankle plantar flexion. Due to the flexible branches arranged in compliance with ankle motion and shape, ... -
Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism
(The American Society of Mechanical Engineers (ASME), 2024)This article reports the design, modeling, and experiments of a novel retinal surgery robot based on spatial variable remote center-of-motion (RCM) mechanism. The general design criteria for parallel mechanisms are proposed, ... -
A Cable-Based Haptic Interface With a Reconfigurable Structure
(The American Society of Mechanical Engineers (ASME), 2024)Cable robots have been used as haptic interfaces for several decades now, with the most notable examples being the SPIDAR and its numerous iterations throughout the years, as well as the more recent IPAnema 3 Mini manufactured ... -
Design and Analysis of a Mobile Robot With Transformable Wheel-Legged Mechanism
(The American Society of Mechanical Engineers (ASME), 2025)In this paper, a mobile robot with transformable wheel-legged mechanism is proposed to effectively cope with unstructured terrain in the work environment, especially steps. By using the combination of ratchet-crank-pilot ... -
Evolution Design of Multiple Metamorphic Mechanisms Inspired by the Concept of Assur Group
(The American Society of Mechanical Engineers (ASME), 2024)Metamorphic mechanisms that can adapt to a variety of working conditions with distinct configurations, have gained widespread attention in recent years. However, it's always difficult to design metamorphic mechanisms with ... -
Fast Kinematic Calibration of a Robotic Manipulator Through a Single Continuous Motion
(The American Society of Mechanical Engineers (ASME), 2024)The measurement step of the existing calibration approaches for robotic manipulators can take a considerable amount of time to settle a robotic manipulator down at certain static configurations, making the calibration ... -
Sparse Convolution-Based 6D Pose Estimation for Robotic Bin-Picking With Point Clouds
(The American Society of Mechanical Engineers (ASME), 2024)Estimating the orientation and position of objects is a crucial step in robotic bin-picking tasks. The challenge lies in the fact that, in real-world scenarios, a diverse array of objects is often randomly stacked, resulting ... -
Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics
(The American Society of Mechanical Engineers (ASME), 2024)This article presents an algorithm to perform self-calibration of cable-driven parallel robots (CDPRs), where the CDPR’s end-effector pose is estimated in conjunction with the calibration of biases in CDPR’s measurements. ... -
Towing an Object With a Rover
(The American Society of Mechanical Engineers (ASME), 2024)The present study investigates the problem of towing an object that is lying on a surface in a given workspace and the applicability to a planetary rover with four steering wheels. A quasi-static method has been introduced ... -
New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents a novel two degrees-of-freedom planar parallel manipulator (PPM) designed for infinite-axis 3D printing, alongside tools for facilitating future design iterations. Unlike traditional gantry-supported ... -
Performance Analysis of a Gripper for Microsatellite Berthing
(The American Society of Mechanical Engineers (ASME), 2024)In this paper, the grasping operation of CubeSat microsatellites is analyzed with a topological study of grasping strategies as functions of CubeSat geometry. Grasping conditions and limitations are introduced for the ... -
Improved Design of an Orthogonal-Axis-Type Precession Motion Ball Reducer
(The American Society of Mechanical Engineers (ASME), 2024)To realize a no-backlash reducer for a small-size orthogonal-axis output, a novel design of a precession motion ball reducer is proposed. This reducer consists of a precession-motion-generating section, a motion direction ... -
Sensitivity Analysis of Performance Tests for Six-Degree-of-Freedom Serial Industrial Robots
(The American Society of Mechanical Engineers (ASME), 2024)The international standard ISO 9283:1998 is popular for performance tests of industrial robots at present. It is desirable that the tests described in this standard should be sensitive to error sources of robot end ... -
A Dynamical Model for the Control of a Guyed Tensegrity Beam Under Large Displacements
(The American Society of Mechanical Engineers (ASME), 2024)Most studies regarding models of tensegrity systems miss the possibility of large static deformations or provide elaborate and lengthy solutions to determine the system dynamics. Contrarily, this work presents a straightforward ... -
Kinetostatic Analysis of a Spatial Cable-Actuated Variable Stiffness Joint
(The American Society of Mechanical Engineers (ASME), 2024)The demand for robots capable of performing collaborative tasks requiring interactions with the environment is on the rise. Safe interactions with the environment require attributes such as high dexterity and compliance ... -
Special Issue: Mechanisms, Transmissions, and Applications
(The American Society of Mechanical Engineers (ASME), 2024)This special issue of the ASME Journal of Mechanisms and Robotics (JMR) draws on papers presented at the 6th IFToMM International Conference on Mechanisms, Transmissions, and Applications (MeTrApp 2023), held in Poitiers, ... -
Errata: “Static Stability of Planar Contacting Systems: Analytical Treatment in Euclidean Space” [ASME J. Mech. Rob., 2024, 16(8), p. 081009; DOI: 10.1115/1.4064065]
(The American Society of Mechanical Engineers (ASME), 2024)This document contains errata for the research paper titled “Static Stability of Planar Contacting Systems: Analytical Treatment in Euclidean Space” (DOI: 10.1115/1.4064065) by the same authors. The corrections are provided ... -
A Multi-Objective Optimal Design Method for Gravity Compensators With Consideration of Minimizing Joint Reaction Forces
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents a multi-objective optimal design method for gravity compensators with consideration of minimizing the joint reaction forces. High performance of the gravity compensation is achieved while the joint ... -
Analytic Center-Based Tension Distribution for Cable-Driven Platforms
(The American Society of Mechanical Engineers (ASME), 2024)A redundant cable-driven platform (CDP) is composed of m cables that exceed the degree-of-freedom (DoF) of the end-effector. The choice of tension along the cables admits infinite solutions. This paper proposes the use of ... -
Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms
(The American Society of Mechanical Engineers (ASME), 2024)Inspired by lizards, a novel mobile platform with revolving linkage legs is proposed. The platform consists of four six-bar bipedal modules, and it is designed for heavy transportation on unstructured terrain. The platform ...