Journal of Mechanisms and Robotics: Recent submissions
Now showing items 281-300 of 1771
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Prediction of Human Reaching Pose Sequences in Human–Robot Collaboration
(The American Society of Mechanical Engineers (ASME), 2024)In human–robot collaboration, robots and humans must work together in shared, overlapping, workspaces to accomplish tasks. If human and robot motion can be coordinated, then collisions between robot and human can seamlessly ... -
Analytical Modeling and Validation of New Prismatic Compliant Joints Based on Zero Poisson’s Ratio Lattice Structures
(The American Society of Mechanical Engineers (ASME), 2024)The design and analysis of prismatic compliant joints have received less attention compared to that given to revolute compliant joints, thus limiting their implementation in compliant mechanisms beyond translational stages. ... -
A Kinematic Synthesis Methodology for P-Drivable Spatial Single Degree-of-Freedom Mechanisms to Avoid Singularities
(The American Society of Mechanical Engineers (ASME), 2024)For a single degree-of-freedom spatial mechanism, a reference frame attached to any of its links produces a continuous motion of this frame. Given the progression of this frame from the start through the end of the mechanism’s ... -
Near-Zero Parasitic Shift Flexure Pivots Based on Coupled n-RRR Planar Parallel Mechanisms
(The American Society of Mechanical Engineers (ASME), 2024)Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations ... -
Identification of Real and Complex Solution Varieties and Their Singularities Defined by Loop Constraints of Linkages Using the Kinematic Tangent Cone
(The American Society of Mechanical Engineers (ASME), 2024)The configuration space (c-space) of a mechanism is the real-solution variety of a set of loop closure constraints, which is therefore the chief object in kinematic analysis. Singularities of this variety (referred to as ... -
Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators
(The American Society of Mechanical Engineers (ASME), 2024)Determining the workspace of a robotic manipulator is highly significant for knowing its abilities and planning the robot application. Several techniques exist for robot workspace determination. However, these methods are ... -
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 ... -
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 ... -
Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents the design, calibration, and development of a novel cable-driven planar parallel continuum robot (PCR). The PCR employs a novel drive unit, which is mainly composed of cables, guiding pulleys, and ... -
Singularity Analysis of Actuation Coordination and New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators
(The American Society of Mechanical Engineers (ASME), 2024)This paper focuses on the singularity of actuation coordination of redundantly actuated parallel manipulators and proposes a series of novel indices to evaluate the actuation coordination. The singularity is analyzed based ... -
Design of a Novel Linkage for Electronic Parking Brake Transmission Systems
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents a novel mechanical transmission for pulling-cable electronic parking brakes (EPBs). The system is interposed between the brake electric actuator and the brake pads, and it exploits a 2DOF planar linkage ... -
Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach
(The American Society of Mechanical Engineers (ASME), 2024)Manipulators are increasingly being called upon to perform a wide range of tasks. This paper explores the maximal distance throwing task for robotic manipulators and shows that this characteristic can be incorporated in ... -
Design and Testing of a New LARMbot Torso
(The American Society of Mechanical Engineers (ASME), 2024)Developing a robotic torso mechanism is crucial in replicating human mobility in humanoid robots. Previous research has presented the LARMbot humanoid's torso as a potential solution, which has now been improved with a ... -
Design, Modeling, and Control of a Compact and Reconfigurable Variable Stiffness Actuator Using Disc Spring
(The American Society of Mechanical Engineers (ASME), 2024)This paper proposes a compact and reconfigurable variable stiffness actuator (VSA) using disc spring which is named as SDS-VSA (symmetrical disc spring variable stiffness actuator). To enhance the actuator’s torque density, ... -
Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints
(The American Society of Mechanical Engineers (ASME), 2024)This paper applies the kirigami technique to a non-rigid foldable tubular origami to make a rigid foldable tubular design, i.e., a radially closable kirigami (RC-kiri). The laminar emergent torsional (LET) compliant joint ... -
Drive Layout Configuration Strategy and Scale Optimization Design of Multi-Drive Mode Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2024)Aiming at the inherent defects of single-drive mode parallel mechanisms, such as small good workspace and many singular configurations, a new multi-drive mode parallel mechanism is proposed from the perspective of driving ... -
Structural–Parametric Synthesis of the Planar Four-Bar and Six-Bar Function Generators With Revolute Joints
(The American Society of Mechanical Engineers (ASME), 2024)This paper studies a structural–parametric synthesis of the four-bar and Stephenson II, Stephenson III A, and Stephenson III B six-bar function generators. A four-bar function generator is formed by connecting two coordinate ... -
A Compliant Hinge Joint Driven by the PneuNets Bending Actuator
(The American Society of Mechanical Engineers (ASME), 2024)While soft robots enjoy the benefits of high adaptability and safety, their inherent flexibility makes them suffer from low load-carrying capacity and motion precision, which limits their applications to a broader range ... -
On the Construction of Confidence Regions for Uncertain Planar Displacements
(The American Society of Mechanical Engineers (ASME), 2024)This paper studies the statistical concept of confidence region for a set of uncertain planar displacements with a certain level of confidence or probabilities. Three different representations of planar displacements are ... -
Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems
(The American Society of Mechanical Engineers (ASME), 2024)Modeling the nonlinear dynamics of prosthetic feet is an important tool for linking prosthesis mechanical properties to end-user outcomes. There has been a renewed interest in data-driven modeling of dynamical systems, ...