Journal of Mechanisms and Robotics: Recent submissions
Now showing items 421-440 of 1771
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Approach for Identifying Cartesian Stiffness of a 5-Degree-of-Freedom Hybrid Robot for Machining
(The American Society of Mechanical Engineers (ASME), 2023)This article presents a systematic approach for identifying the Cartesian stiffness of a 5-degree-of-freedom (DOF) hybrid robot for machining that includes a parallel mechanism and an A/C wrist. The novelty of this approach ... -
A Novel Transformable Leg-Wheel Mechanism
(The American Society of Mechanical Engineers (ASME), 2023)In this paper, a novel transformable leg-wheel mechanism is proposed. It has three active joints, among which the hip roll joint is directly driven, the hip pitch joint is driven by gear transmission, and the knee joint ... -
Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot
(The American Society of Mechanical Engineers (ASME), 2023)In manufacturing industry, computer numerical control (CNC) machines are often preferred over industrial serial robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning accuracy, which leads to slight ... -
Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles
(The American Society of Mechanical Engineers (ASME), 2023)Force analysis with regard to serial connected manipulators is discussed thoroughly in the past. However, force analysis of statically balanced manipulator using springs has not been widely addressed because spring forces ... -
Static Hovering Realization for Multirotor Aerial Vehicles With Tiltable Propellers
(The American Society of Mechanical Engineers (ASME), 2023)This paper presents a theoretical study on the ability of multirotor aerial vehicles (MRAVs) with tiltable propellers to achieve and sustain static hovering at different orientations. To analyze the ability of MRAVs with ... -
Three 2-DOF 1T1R and One 3-DOF 2T1R Full-Hinged Novel Parallel Mechanisms With Zero Coupling Degree and Motion Decoupling: Design and Analysis
(The American Society of Mechanical Engineers (ASME), 2023)This paper presents the design and analysis of a family of full-hinged partially-decoupled novel parallel mechanisms (PMs) featuring one/two translation(s) and one rotation (1T1R/2T1R). First, three 2DOF 1T1R and one 3DOF ... -
Parameter Optimization of Foldable Flapping-Wing Mechanism for Maximum Lift
(The American Society of Mechanical Engineers (ASME), 2023)A lot of flapping-wing mechanisms have been proposed to mimic the flight characteristics of biological flyers. However, it is difficult to find studies that consider the unsteady aerodynamics in the design of the flapping-wing ... -
Kinematics Analysis of 6-Degrees-of-Freedom Parallel + Serial Type Hybrid Mechanisms Containing Parallel Mechanism With High Coupling Motions
(The American Society of Mechanical Engineers (ASME), 2023)The existing displacement of parallel + serial type hybrid mechanisms is mainly solved by the equivalent serial mechanism (SM) method. However, a large number of lower mobility parallel mechanisms (PMs) that have high ... -
Design and Performance Analysis of Wavy Nonrotating Pneumatic Soft Actuator
(The American Society of Mechanical Engineers (ASME), 2023)Soft robots can accomplish hand rehabilitation training to ensure better safety and compliance for hand rehabilitation. In this study, a wavy nonrotating soft actuator structure was proposed for hand rehabilitation, and ... -
Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2023)Since previous studies of parallel mechanisms (PMs) have tended to favor symmetrical overall configuration to obtain relatively stable kinematic and dynamic performance and to satisfy isotropic requirements. The analysis ... -
Graphic Transfer Matrix Method for Kinetostatic and Dynamic Analyses of Compliant Mechanisms
(The American Society of Mechanical Engineers (ASME), 2023)Kinetostatic and dynamic analyses of compliant mechanisms with complex configurations continue to be an attractive issue for obtaining a process-concise and result-accurate solution. In this paper, the transfer matrix ... -
Development of a Three-Mobile-Robot System for Cooperative Transportation
(The American Society of Mechanical Engineers (ASME), 2023)The transportation of large-scale objects in a narrow space is a challenging, but useful application for mobile robots. We have developed a three-mobile-robot system to cooperatively lift, support, and transport a large ... -
WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability
(The American Society of Mechanical Engineers (ASME), 2023)This paper discusses the theoretical analysis and the experimental validation of the step and stair climbing capability of wheel-track-leg hybrid locomotion (WheTLHLoc), a small-scale hybrid locomotion robot with overall ... -
Design of a 3-Degrees-of-Freedom Cable-Driven Parallel Robot for Automated Construction Based on Workspace and Kinematic Sensitivity
(The American Society of Mechanical Engineers (ASME), 2023)In recent years, there has been an increased interest in automating construction tasks to produce more affordable houses at an increased production rate. With this in mind, this article explores the design of a suspended ... -
A Novel Reconfigurable 3-DOF Parallel Kinematics Machine
(The American Society of Mechanical Engineers (ASME), 2023)This paper proposes a novel, reconfigurable parallel kinematics machine with three degrees of freedom that can be used for various three-axis manipulation tasks, including machining. By locking some joints, the proposed ... -
Design and Analysis of an Active Swing Decoupling Compliant Mechanism With Multiple Co-Directional Input Branches
(The American Society of Mechanical Engineers (ASME), 2023)In this work, we propose a novel bio-inspired swing decoupling mechanism supporting high precision motion systems, which is composed of multiple co-directional input branches with a rigid swing unit and an anti-rotational ... -
Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor
(The American Society of Mechanical Engineers (ASME), 2023)This article presents a novel architecture for the actuation and transmission system of a 5-degrees-of-freedom (DOFs) compliant robot manipulator. The compliant behavior of the robot is achieved using inherently compliant ... -
Self-Adaptive Obstacle Crossing of an AntiBot From Reconfiguration Control and Mechanical Adaptation
(The American Society of Mechanical Engineers (ASME), 2023)One drawback of wheeled robots is their inferiority to conquer large obstacles and perform well on complicated terrains, which limits their application in rescue missions. To provide a solution to this issue, an ant-like ... -
Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
(The American Society of Mechanical Engineers (ASME), 2023)Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety ... -
Embedded Linear-Motion Developable Mechanisms on Cylindrical Surfaces
(The American Society of Mechanical Engineers (ASME), 2023)This study introduces methods for developing embedded straight-line and linear-motion mechanisms on right circular cylinders. Developable surfaces, particularly right circular cylinders, are the manufactured embodiment of ...