Journal of Mechanisms and Robotics: Recent submissions
Now showing items 321-340 of 1771
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Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation
(The American Society of Mechanical Engineers (ASME), 2023)Humans are intrinsically unstable in quiet stance from a rigid body system viewpoint; however, they maintain balance, thanks to neuro-muscular sensory control properties. With increasing levels of balance related incidents ... -
Analysis and Optimization of a 6-DoF 3-RRPS Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery
(The American Society of Mechanical Engineers (ASME), 2023)Robot-assisted femur repair has been of increased interest in recent literature due to the success of robot-assisted surgeries and current reoperation rates for femur fracture surgeries. The current limitation of robot-assisted ... -
Development of a Low-Cost Soft Robot Fish With Biomimetic Swimming Performance
(The American Society of Mechanical Engineers (ASME), 2023)This paper investigates the methodology and techniques for a soft biomimetic robot fish that has a straightforward design, relatively simple fabrication, and low cost. In addition to the investigations of fabrication ... -
Configuration Synthesis Method of Multi-Mode Parallel Mechanism Based on Variable Mobility Branch
(The American Society of Mechanical Engineers (ASME), 2023)In order to obtain more configurations of multi-mode parallel mechanism with the expected motion modes, a new configuration synthesis method of multi-mode parallel mechanism is proposed in this paper. The generation principle ... -
Design and Reconfiguration Analysis of the Trunk Mechanism for a Reconfigurable Wheeled Mobile Platform
(The American Society of Mechanical Engineers (ASME), 2024)This paper proposes a reconfigurable wheeled mobile platform (RWMP) consisting of two two-wheeled mobile robots and a reconfigurable trunk. The reconfigurable trunk is a 6R multi-mode single-loop mechanism (SLM) that is ... -
Enhancing Kinematic Calibration Accuracy for Parallel Manipulators Based on Truncated Total Least-Square Regularization
(The American Society of Mechanical Engineers (ASME), 2023)This article proposes a novel kinematic calibration approach to address the ill-conditioned identification matrix problem and enhance the accuracy of parallel manipulators (PMs). The kinematic calibration approach applies ... -
Motion Modeling of a 5-Axis Delta Robot with Telescopic Shafts
(The American Society of Mechanical Engineers (ASME), 2023)This paper deals with motion modeling of a 5-axis industrial Delta robot. The robot has extra rotational two degrees-of-freedom (DoF) realized with a wrist arm driven through two co-axial telescopic shafts as compared to ... -
A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces
(The American Society of Mechanical Engineers (ASME), 2023)The introduction of intrinsic compliance in the design of robots allows to reduce the risk for humans working in the vicinity of a robotic cell. Indeed, it permits to decouple the dynamic effects of the links’ inertia from ... -
2023 Reviewers With Distinction Award
(The American Society of Mechanical Engineers (ASME), 2024)The Journal of Mechanisms and Robotics Reviewers with Distinction Award is given to reviewers who have made a meritorious contribution to the journal in terms of the number, quality, and turnaround time of reviews completed ... -
Reviewer’s Recognition
(The American Society of Mechanical Engineers (ASME), 2024)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 2023. Serving as reviewers for the journal ... -
Constant Force Spring System With a Spiral: Accuracy Assessment
(The American Society of Mechanical Engineers (ASME), 2024)This paper is an extension of the original research contained in the paper “Constant Force Spring System With a Spiral” by Richard B. Hetnarski, published in J. Mech. Rob., 12, Dec. 2020. The topic of that paper is the ... -
Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints
(The American Society of Mechanical Engineers (ASME), 2023)The authors propose a systematic formulation of the dynamics of the 6-P-RR-R-RR parallel-kinematics machine (PKM) with offset RR -joints. The kinematics of the same system is reported in an accompanying paper. Based on the ... -
Modeling Method for Static Large Deflection Problem of Curved Planar Beams in Compliant Mechanisms Based on a Novel Governing Equation
(The American Society of Mechanical Engineers (ASME), 2023)Slender beams serve as typical flexible components to transfer motion, force, and energy in compliant mechanisms. Therefore, the accurate and efficient kinetostatic modeling for the slender beams is highly needed in the ... -
Kinematical Approach to the Drilling Mechanisms for n-Sided Polygonal Holes
(The American Society of Mechanical Engineers (ASME), 2023)The present analysis addresses the generation of regular polygonal paths with any number of sides, odd or even, by use of special rotors revolving with uniquely prescribed motions inside fixed polygonal holes of guidance, ... -
Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects
(The American Society of Mechanical Engineers (ASME), 2023)Bistable structures have been widely utilized in soft grippers to reduce the energy required for maintaining grip. Grippers have been investigated in terms of the energy efficiency and accuracy of gripping; however, the ... -
Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger
(The American Society of Mechanical Engineers (ASME), 2024)Rejecting impact force by adjusting footsteps during walking is crucial for a humanoid robot in an interactive environment. This paper proposes an optimal footstep regulation trigger for an analytic footstep regulation ... -
Form-Finding and Evaluation of Spherical Tensegrity Toward Applying in Locomotive Robots
(The American Society of Mechanical Engineers (ASME), 2024)A tensegrity-based robot is a locomotive robot that operates on the principle of tensegrity, allowing it to change its shape by adjusting its internal prestress. Tensegrity-based robots can be categorized into different ... -
Design and Analysis of a Lunar Crewed Vehicle With a Novel Versatile Compliant Suspension Mechanism
(The American Society of Mechanical Engineers (ASME), 2024)A lunar crewed vehicle (LCV) with improved maneuverability, mobility, and ride comfort is required for astronauts to conduct long-range scientific investigations and resource utilization on the Moon’s surface. This paper ... -
Dynamic Manipulation and Stiffness Modulation of Cooperative Continuum Robots: Theory and Experiment
(The American Society of Mechanical Engineers (ASME), 2024)Cooperative continuum robots (CCRs) are composed of multiple coupled continuum arms to cooperatively conduct manipulation tasks. They can highly enhance the performance of individual continuum arms by providing extra ... -
Design and Optimization of a Wearable Underactuated Mechanism for Spinal Posture Measurement
(The American Society of Mechanical Engineers (ASME), 2024)This paper proposes a novel wearable device to monitor and record the posture and alignment of spine. The proposed device adopts an underactuated mechanism design which allows it to adapt to the multiple-degrees-of-freedom ...