Journal of Mechanisms and Robotics: Recent submissions
Now showing items 301-320 of 1771
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Kinematics and Performance Analysis of a Deployable 7R Overconstrained Single-Loop Mechanism for Aerospace Platform
(The American Society of Mechanical Engineers (ASME), 2023)This paper studies a special deployable 7R single-loop mechanism (SLM), which is characterized by its overconstraints, 1-DOF, and single-loop structure. Based on these characteristics, a series of performance evaluation ... -
Redundant Serial Manipulator Inverse Position Kinematics and Dynamics
(The American Society of Mechanical Engineers (ASME), 2023)A redundant serial manipulator inverse position kinematic mapping is employed to define a new manipulator operational space differentiable manifold and an associated system of well posed operational space differential ... -
Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction
(The American Society of Mechanical Engineers (ASME), 2023)In recent years, parallel robots have become a hot research topic in trauma fracture treatment because of their high precision, high load capacity, and compact structure. However, parallel robots have disadvantages like ... -
Design of a Novel Large-Stroke Compliant Constant-Torque Mechanism Based on Chained Beam-Constraint Model
(The American Society of Mechanical Engineers (ASME), 2023)This study addressed the development of a novel compliant constant-torque mechanism (CCTM) that utilizes Bezier curved beams to provide a large stroke in the constant-torque operating range. Previous CCTMs are limited by ... -
Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal
(The American Society of Mechanical Engineers (ASME), 2023)Purpose: The purpose of this paper is to investigate the optimal geometrical design of concentric tube robots (CTR) for intracerebral hemorrhage (ICH) evacuation, with a focus on minimizing the risk of damaging white matter ... -
PhyNRnet: Physics-Informed Newton–Raphson Network for Forward Kinematics Solution of Parallel Manipulators
(The American Society of Mechanical Engineers (ASME), 2023)Despite significant performance advantages, the intractable forward kinematics have always restricted the application of parallel manipulators to small posture spaces. Traditional analytical methods and Newton–Raphson ... -
Kinematic Performance Analysis and Dimensional Optimization of New Symmetric Parallel Mechanism 6RPS With Multi-Redundant Actuations
(The American Society of Mechanical Engineers (ASME), 2023)A novel symmetric parallel mechanism 6RPS with multi-redundant actuations is proposed in this paper, which possesses two rotational and one translational degrees-of-freedom. Motion and constraint screw systems of this ... -
Kinematic Design and Prototyping of a Gripper With Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot
(The American Society of Mechanical Engineers (ASME), 2023)A gripper design is adapted to offer grasping and scooping capabilities to a parallel robot. This enables the parallel robot to manipulate not only large objects, but also thin objects lying on flat surfaces. Moreover, ... -
Tapered Origami Tubes With Non-Planar Cross Sections
(The American Society of Mechanical Engineers (ASME), 2023)Rigidly foldable origami tubes are widely used in origami-inspired engineering designs. Here, using a mechanism construction process, we show that these tubes can be combined with tapered adding parts to form new tubes ... -
Toward Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves
(The American Society of Mechanical Engineers (ASME), 2023)Patients who have limited body movement ability need assistance with frequent repositioning and transfers from their caregivers. These common manual tasks are physically strenuous for caregivers. To minimize caregiver ... -
Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2023)For practical applications of interactive manipulation, active contact control is one of the fundamental functions that flexible-link parallel mechanisms (FLPMs) should be equipped with. In this paper, a force control ... -
The Equivalent Mechanical Model of Topological Graphs and the Isomorphism Identification of Kinematic Chains
(The American Society of Mechanical Engineers (ASME), 2023)In type synthesis of mechanisms, isomorphic identification of kinematic chains is a key issue, which has been studied for many years. In this paper, a new topological invariant, a character array of edge is constructed ... -
Design and Analysis of Bionic Continuum Robot With Helical Winding Grasping Function
(The American Society of Mechanical Engineers (ASME), 2023)In the field of grasping application, continuum robots are characterized by flexible grasping and high adaptability. Based on research on the physiological structure and winding method of seahorses, a continuum robot with ... -
Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism
(The American Society of Mechanical Engineers (ASME), 2023)Kinematic estimations and dynamic performance assessments are fundamental theoretical issues to realize the mechanism from conceptual design to engineering application. In this article, the closed-form dynamic formulations ... -
Design, Performance Analysis, and Experiments of a Soft Robot for Rescue
(The American Society of Mechanical Engineers (ASME), 2023)In the narrow and irregular environment of the ruins, the existing rescue robots are struggling to achieve their performance. Inspired by the process of termite predation by giant anteaters, we propose a soft rescue robot ... -
Workspace, Singularity, and Dexterity Analyses of a Six-Degrees-of-Freedom SDelta Robot With an Orthogonal Base Platform
(The American Society of Mechanical Engineers (ASME), 2023)The SDelta is a three-limb, six-degrees-of-freedom parallel kinematics machine, a pertinent candidate for high-speed operations by virtue of its simple architecture. The original design of the SDelta includes a planar base ... -
Conformal Geometric Algebra–Based Geometric Modeling Method for Forward Displacement Analysis of 6-4 Stewart Platforms
(The American Society of Mechanical Engineers (ASME), 2023)This paper presents a novel geometric modeling method for direct displacement analysis of 6-4 Stewart platforms based on conformal geometric algebra (CGA). First, a geometric constraint relationship of four lines and a ... -
Advancing Legged Wall Climbing Robot Performance Through Dynamic Contact-Integrated Climbing Model
(The American Society of Mechanical Engineers (ASME), 2024)Climbing robots have gained significance in hazardous and steep terrains, yet adapting to complex environments remains a challenge. Inspired by nature's climbers, this paper introduces a climbing dynamics model that ... -
A Mirrored Approach to Generate Spatial Deployable Assemblies Using Tripod-Scissor Units
(The American Society of Mechanical Engineers (ASME), 2023)A tripod-scissor unit, unlike planar scissor pairs, consists of three rods connected at an intermediate joint thus forming a spatially transformable unit. Geometrically, a tripod-scissor unit is axisymmetric but does not ... -
Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot
(The American Society of Mechanical Engineers (ASME), 2023)Clustered tensegrity mechanisms have elicited extensive attention in recent research due to their easy control system and high stiffness-to-mass ratio. However, modeling and analyzing these mechanisms are still challenging ...