Journal of Mechanisms and Robotics: Recent submissions
Now showing items 361-380 of 1771
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Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism
(The American Society of Mechanical Engineers (ASME), 1/17/2023 )To rapidly analyze the dynamic characteristics of a compliant stroke amplification mechanism (CSAM) with completely distributed compliance, an analytical model based on the dynamic stiffness matrix with consideration of ... -
Erratum: “Robotic Tensegrity Structure with a Mechanism Mimicking Human Shoulder Motion” [ASME J. Mech. Rob. 14(2), p. 025001; DOI: 10.1115/1.4052124]
(The American Society of Mechanical Engineers (ASME), 7/20/2023 )The acknowledgment in the publication is incorrect. The correct acknowledgment is given as follows: -
Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints
(The American Society of Mechanical Engineers (ASME), 11/24/2022)A cable-driven redundant manipulator (CDRM) composed of quaternion joints has important applications in confined space, including minimal invasive surgery, aircraft parts assembly, environment exploring, and so on. Benefitting ... -
A Reconfigurable 6R Linkage With Six Motion Modes and Three Topological Structures
(The American Society of Mechanical Engineers (ASME), 11/25/2022)In this paper, a new reconfigurable 6R linkage is obtained by combining two identical equilateral Bennett linkages arranged in a plane-symmetric manner, and a detailed kinematic analysis is conducted which shows that there ... -
Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
(The American Society of Mechanical Engineers (ASME), 11/25/2022)In this work, the motion of a nonlinear inverted pendulum (NIP) on deformable terrain due to foot contact forces is used for energy analysis and footstep placement. In order to include the linear and rotational motions of ... -
A Dynamic Loading Mechanism for a Morphing Winglet
(The American Society of Mechanical Engineers (ASME), 11/24/2022)A loading mechanism for a variable cant angle morphing winglet is proposed in this paper. The mechanism provides a method of loading a morphing winglet with the simulated aerodynamic lift force by maintaining its application ... -
Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand
(The American Society of Mechanical Engineers (ASME), 5/2/2023 1)Reconfigurable robotic hands can constitute one of the future trends of dexterous manipulator design, as they can strike a balance between precision, force exertion, flexibility, and adaptability. However, the feasible ... -
Multi-Branch Cellular Space Robot Mechanism Design and Climbing Behavior Research
(The American Society of Mechanical Engineers (ASME), 1/30/2023 )Current space engineering projects such as large space structure erection and spacecraft maintenance tasks require robots with space truss climbing capability. To adapt to the complex climbing environment, this paper ... -
Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips
(The American Society of Mechanical Engineers (ASME), 12/9/2022 )This paper proposes a shape-adaptive electroadhesion dielectric elastomer actuator (EA-DEA) pad gripper that can actively adapt to the shape of curved objects and quickly handle various objects by combining an EA pad and ... -
A Walking Claw for Tethered Object Retrieval
(The American Society of Mechanical Engineers (ASME), 12/9/2022 )Mobility and manipulation are often considered separately, with independent degrees-of-freedom (DOF) for each. However, here we show that using the legs for both walking and grasping increases the versatility of both tasks. ... -
Extensible Continuum Manipulator Toward In-situ Explosive Ordnance Disposal
(The American Society of Mechanical Engineers (ASME), 12/5/2022 )Homemade bombs made by terrorists threaten seriously the social public security. Now, it is still a challenge to guarantee safety without destroying bombs. Compared with the destructive explosive disposal approach employing ... -
Thick-Panel Origami Tubes With Hexagonal Cross-Sections
(The American Society of Mechanical Engineers (ASME), 11/25/2022)Rigidly foldable origami tubes can be kinematically regarded as assemblies of spherical linkages. They have exhibited excellent properties for deployable structures. Yet, for the engineering applications, the corresponding ... -
Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone
(The American Society of Mechanical Engineers (ASME), 11/25/2022)Soft robots can undergo large elastic deformations and adapt to complex shapes. However, they lack the structural strength to withstand external loads due to the intrinsic compliance of fabrication materials (silicone or ... -
Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
(The American Society of Mechanical Engineers (ASME), 11/25/2022)This article presents an experimental study with theory to identify quantitatively the zero-potential-energy (ZP) motion in Cartesian impedance control of redundant manipulators, based on a new analytical methodology. This ... -
Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot
(The American Society of Mechanical Engineers (ASME), 11/24/2022)This paper introduces a novel compact three-degree-of-freedom (DOF) parallel robot that will be used as a leg of a 9-DOF kinematically redundant parallel robot. First, the kinematic model of the robot is established based ... -
Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting
(The American Society of Mechanical Engineers (ASME), 11/24/2022)Some special tasks require human operations and cannot be performed by robots or other autonomous equipment, such as special industrial assembly and surgical procedures in small and crowded spaces. Workers/surgeons in these ... -
Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint
(The American Society of Mechanical Engineers (ASME), 11/24/2022)This paper illustrates the design and testing of a lower limb exoskeleton for walking assistance. First, the biomechanics of the human knee and ankle joints during walking and the strategy of energy recycling and releasing ... -
Development of a Constant Force Suspended Backpack for Variable Load and Variable Speed Locomotion
(The American Society of Mechanical Engineers (ASME), 11/24/2022)Studies have shown that the suspended backpack, a wearable device allowing the backpack moving relative to user’s back, can effectively reduce the accelerative vertical force of the backpack to reduce the metabolic cost ... -
Constructing Three-Dimensional Honeycomb Structures Based on Origami Geometry
(The American Society of Mechanical Engineers (ASME), 11/24/2022)Origami has shown the potential to design unique mechanical properties and complex three-dimensional shapes by folding through designed crease patterns on flat materials. The authors investigated a new honeycomb-based ... -
Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices
(The American Society of Mechanical Engineers (ASME), 11/24/2022)Origami is rapidly gaining prominence in the research of metamaterials as it allows for tuning the properties of interest by change in the folded state. Origami-based lattices that allow low-frequency wave-propagation can ...