Journal of Mechanisms and Robotics: Recent submissions
Now showing items 341-360 of 1771
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Folding Miura-Ori of Uniform Thickness With One Degree-of-Freedom
(The American Society of Mechanical Engineers (ASME), 2024)The Miura-ori is an origami pattern with bi-directional folding capable of transforming a large thin sheet into a compact volume with a single degree-of-freedom (DoF). A common Miura-ori pattern consists of identical rigid ... -
Targeted Sampling Dynamic Window Approach: A Path-Aware Dynamic Window Approach Sampling Strategy for Omni-Directional Robots
(The American Society of Mechanical Engineers (ASME), 2024)This paper describes a sampling strategy for the dynamic window approach (DWA), a local path planner, for omni-directional robot motion planning. An efficient local planner allows the robot to quickly respond to dynamic ... -
Design of an Efficient Non-Backdrivable Mechanism With Wrap Spring for Hand Prosthesis
(The American Society of Mechanical Engineers (ASME), 2024)The aim of this paper is to create a system that enables power transmission non-backdrivability in a hand prosthesis with a single actuator. This system allows the motor to be stopped while maintaining the gripping force ... -
Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators
(The American Society of Mechanical Engineers (ASME), 2024)Flexible continuum manipulators (FCMs) are gaining importance because of their maneuverability and pliability in confined and complex spaces, where rigid link manipulators underperform. However, the dynamic behavior and ... -
Construction and Multi-Mode Motion Analysis of Single-Degree-of-Freedom Four-Bar Multi-Mode Planar Mechanisms Based on Singular Configuration
(The American Society of Mechanical Engineers (ASME), 2024)The traditional four-bar mechanism is renowned for its simple structure, dependable performance, and wide range of applications. The single-degree-of-freedom (DOF) four-bar multi-mode planar mechanism (MMPM) is a type of ... -
A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
(The American Society of Mechanical Engineers (ASME), 2024)The implementation of the high-precision tracking control and external force-sensing ability of a manipulator is important for achieving refined surgical robot operation. In this paper, a hybrid method based on data-driven ... -
Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation
(The American Society of Mechanical Engineers (ASME), 2024)The forward kinematics (FK) of a 6-6 universal-prismatic-spherical (UPS) structure of a parallel robot is highly nonlinear, coupled, and has a one-to-many nature of mapping. There exists no close form solution to a forward ... -
Complete Kinematics/Dynamics Modeling and Performance Analysis of a Novel SCARA Parallel Manipulator Based on Screw Theory
(The American Society of Mechanical Engineers (ASME), 2024)In this paper, a novel Selective Compliance Assembly Robot Arm (SCARA) high-speed parallel manipulator that can realize three-translation and one-rotation motion is proposed, and an accurate dynamic modeling methodology ... -
Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand
(The American Society of Mechanical Engineers (ASME), 1/18/2023 )The development of flexible multidigital grippers with both adaptive grasping and in-hand manipulation capabilities remains a complex issue for human-like dexterous manipulation. After four decades of research in dexterous ... -
Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
(The American Society of Mechanical Engineers (ASME), 1/23/2023 )This article presents the design, development, and motion control of a novel flexible robotic laparoscope (FRL). The main structure of the FRL includes a two degrees-of-freedom (DOFs) continuum mechanism driven by two pairs ... -
Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
(The American Society of Mechanical Engineers (ASME), 1/18/2023 )This article proposes an adaptive fractional-order fast-terminal-type sliding mode control method to solve the trajectory tracking problem of the underwater vehicle-manipulator system in the presence of large dynamic ... -
Design and Validation of Symmetrical Elastic Elements in Series Elastic Actuator
(The American Society of Mechanical Engineers (ASME), 5/2/2023 1)In recent years, the demand for robot joint compliance increased with more complex human–robot interaction scenarios. Series elastic actuators (SEAs) are extensively utilized in multiple fields with abilities to provide ... -
Implementing the Analytical Reachable Body Workspace for Calculating the Obstacle-Crossing Ability of a Hexapod Robot
(The American Society of Mechanical Engineers (ASME), 5/2/2023 1)Calculating the maximum obstacle-crossing ability accurately at the mechanism design stage can better ensure that the manufactured robot prototype meets the predefined indices. The obstacle-crossing task of the legged robot ... -
Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures
(The American Society of Mechanical Engineers (ASME), 1/23/2023 )Bifurcation behavior analysis is the key part of mobility in the application of origami-inspired deployable structures because it opens up more allosteric possibilities but leads to control difficulties. A novel tracking ... -
Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
(The American Society of Mechanical Engineers (ASME), 1/23/2023 )The tracking control of tendon-driven manipulators has recently become a hot topic. However, the flexible elastic tendon introduces greater residual vibration, making it more difficult to control the trajectory tracking ... -
Kinetostatic Analysis of Pneumatic Bending Soft Actuator Coupling With Revolute Joint
(The American Society of Mechanical Engineers (ASME), 1/23/2023 )This paper presents the kinetostatic analysis of pneumatic bending soft actuator coupling with revolute joint, aimed to discover the bending performance of soft actuator wearing on physical joint of human body as exoskeleton. ... -
Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms
(The American Society of Mechanical Engineers (ASME), 1/23/2023 )Compliant mechanisms (CMs) have presented its inherently advantageous properties due to the fact that CMs utilize elastic deformation of the elementary flexible members to transfer motion, force, and energy. Previously, ... -
A Modeling and Calibration Method of Heavy-Duty Automated Fiber Placement Robot Considering Compliance and Joint-Dependent Errors
(The American Society of Mechanical Engineers (ASME), 1/18/2023 )The accuracy of industrial robots is critical in many manufacturing applications. In this case, a self-developed automated fiber placement heavy-duty robot is used for the lay-up of carbon fiber composite prepregs, which ... -
An Analytical Stress–Deflection Model for Fixed-Clamped Flexures Using a Pseudo-Rigid-Body Approach
(The American Society of Mechanical Engineers (ASME), 1/18/2023 )Fixed-clamped flexures are one common component of compliant mechanisms which remain difficult to design due to their unique force– and stress–deflection profiles. In this work, an analytical stress-deflection model for ... -
Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes
(The American Society of Mechanical Engineers (ASME), 1/18/2023 )The primary contribution of the paper is a proposal of a method to minimize the angular positioning error in the process of transferring cuboidal objects between oblique friction force fields generated by two conveyors ...