Journal of Mechanisms and Robotics: Recent submissions
Now showing items 381-400 of 1771
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Orientation Workspace Analysis and Parameter Optimization of 3-RRPS Parallel Robot for Pelvic Fracture Reduction
(The American Society of Mechanical Engineers (ASME), 11/24/2022)For parallel robots with general configuration, it is difficult to achieve the large rotation range requirement for pelvic fracture reduction. Application-based workspace optimization is important. In this paper, a ... -
Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles
(The American Society of Mechanical Engineers (ASME), 11/24/2022)Legged robots have a unique capability of traversing rough terrains and negotiating cluttered environments. Recent control development of legged robots has enabled robust locomotion on rough terrains. However, such approaches ... -
On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm
(The American Society of Mechanical Engineers (ASME), 11/24/2022)Based on an optimized underactuated finger using rolling contact joints, a novel prosthetic hand is proposed in this paper to increase the adaptability to objects of highly underactuated grippers. The hand has 17 ... -
A Novel Design of a Multi-Fingered Bionic Hand With Variable Stiffness for Robotic Grasp
(The American Society of Mechanical Engineers (ASME), 11/10/2022)The robotic hand plays an extremely significant role in completing various robotic tasks, especially for a robot to complete different grasping tasks. In this paper, we propose a novel multi-fingered bionic hand with ... -
A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators
(The American Society of Mechanical Engineers (ASME), 5/2/2023 1)Redundantly actuated parallel manipulators with two rotations and one translation (2R1T RAPMs) have the potential for machining complex surfaces, where a large orientation workspace and high stiffness are required. Considering ... -
Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
(The American Society of Mechanical Engineers (ASME), 5/2/2023 1)The ship-borne Stewart platform can compensate for the six-degrees-of-freedom (DOFs) motion generated by the ship, which improves the reliability and safety of offshore operations and increases the executable window period. ... -
Sensitivity Analysis and Accuracy Synthesis of a Deployable Antenna Considering Clearances and Link Tolerances
(The American Society of Mechanical Engineers (ASME), 11/15/2022)Antenna panels of a satellite are usually deployed and supported by a deployable mechanism. The accuracy of the deployable mechanism is important because it directly affects the performance of the satellite. This article ... -
Realization of a Gear-Spring Balancer With Variable Payloads and Its Application to Serial Robots
(The American Society of Mechanical Engineers (ASME), 11/15/2022)This paper presents a method for realizing a gear-spring balancer (GSB) that can cope with variable payloads and its application to serial robots. The GSB is constructed with a three-gear train articulating a nonzero-free-length ... -
A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper
(The American Society of Mechanical Engineers (ASME), 11/14/2022)This article introduces a haptic-guided teleoperation framework using a series elastic actuator (SEA)-based compliant gripper. The proposed teleoperation system involves one local haptic device, one layer of virtual reality, ... -
Symmetric Kinetostatic Behavior From Asymmetric Spatially Curved Beams
(The American Society of Mechanical Engineers (ASME), 11/14/2022)A cantilevered rod’s endpoint has a symmetric stiffness profile throughout its range of motion. Generally, this is not the case for spatially curved compliant beams, particularly if they are asymmetric, i.e., their fixation ... -
Evaluation on Redundancy-Induced Rigidity Enhancement of a Parallel Manipulator
(The American Society of Mechanical Engineers (ASME), 11/10/2022)Redundantly actuated parallel manipulator (RAPM) has been proved to have comparative advantages of higher rigidity and higher payload over other parallel manipulators. This paper is to quantitatively reveal the effect of ... -
Kinematic Analysis and Workspace Investigation of Novel 3-RPS/(H) Metamorphic Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 11/10/2022)3-RPS/(H) Metamorphic parallel mechanism based on conventional mechanisms is proposed in this study. In contrast to the 3-RPS mechanism, the 3-RPS/(H) mechanism comprises a novel intermediate metamorphic limb. The different ... -
An Energy-Saving Snake Locomotion Pattern Learned in a Physically Constrained Environment With Online Model-Based Policy Gradient Method
(The American Society of Mechanical Engineers (ASME), 11/10/2022)Snake robots, composed of sequentially connected joint actuators, have recently gained increasing attention in the industrial field, like life detection in narrow space. Such robots can navigate the complex environment via ... -
Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator
(The American Society of Mechanical Engineers (ASME), 11/10/2022)Micro positioning systems are popular devices to achieve ultrahigh precision motion. In this paper, a three-degree-of-freedom (3-DOF) flexure-based planar parallel micro manipulator is presented. The existing literature ... -
A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot
(The American Society of Mechanical Engineers (ASME), 11/10/2022)This paper proposes a new whole-body motion generator for a quadruped-on-wheel robot that can cross various rough terrains, especially with a much-altitude difference. The motion generator combines the kinematics model, ... -
Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger
(The American Society of Mechanical Engineers (ASME), 11/10/2022)Prior research on robotic hands predominantly focused on high degrees-of-freedom of fully actuated fingers to replicate a natural human hand or on creative designs of underactuated fingers to make a self-adaptive motion. ... -
Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions
(The American Society of Mechanical Engineers (ASME), 11/10/2022)This article unifies the approaches of kinematic and static modeling, and singularity analysis for tendon-driven parallel continuum robots under constant curvature as well as pseudo-rigid-body assumptions with those ... -
Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm
(The American Society of Mechanical Engineers (ASME), 11/10/2022)This study aims to make approximate motion generation that has multiple solutions to facilitate the selection of the best mechanism parameters. Therefore, an approximate synthesis method for an epicyclic gear train (EGT) ... -
Multi-Keel Passive Prosthetic Foot Design Optimization Using the Lower Leg Trajectory Error Framework
(The American Society of Mechanical Engineers (ASME), 11/8/2022 )People with lower-limb amputation in low- and middle-income countries (LMICs) lack access to adequate prosthetic devices that would restore their mobility and increase their quality of life. This is largely due to the cost ... -
A Review of Cuspidal Serial and Parallel Manipulators
(The American Society of Mechanical Engineers (ASME), 11/15/2022)Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. ...