Journal of Mechanisms and Robotics: Recent submissions
Now showing items 441-460 of 1771
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Design of Decoupled and Dynamically Isotropic Parallel Manipulators Considering Five Degrees-of-Freedom
(The American Society of Mechanical Engineers (ASME), 2023)A six degrees-of-freedom (DOF) two-radii Gough–Stewart Platform (GSP) can be designed to be dynamically isotropic and has been proposed for micro-vibration isolation. In many applications, the torsional mode can be ignored, ... -
Designing and Analyzing Multistable Mechanisms Using Quadrilateral Boundary Rigid Origami
(The American Society of Mechanical Engineers (ASME), 2023)Multistable origami and its snapping behaviors between the folded states have attracted scientists’ and engineers’ attention as the building block for the design of mechanical devices and metamaterials. We propose a novel ... -
Self-Aligning Rotational Latching Mechanisms: Optimal Geometry for Mechanical Robustness
(The American Society of Mechanical Engineers (ASME), 2023)In concurrent work, we introduced a novel robotic package delivery system latching intelligent modular mobility system (LIMMS). Each LIMMS end effector requires a small, lightweight latching mechanism for pre-manufactured ... -
On the Computation of Mean and Variance of Spatial Displacements
(The American Society of Mechanical Engineers (ASME), 2023)This paper studies the problem of computing an average (or mean) displacement from a set of given spatial displacements using three types of parametric representations: Euler angles and translation vectors, unit quaternions ... -
Asymmetric Zipper-Coupled Tubes and Smooth Sheet Attachments in the Design of Deployable Space-Filling Mechanisms
(The American Society of Mechanical Engineers (ASME), 2023)Zipper-coupled tubes are a unique structure consisting of two tubes with zig-zag walls that, when coupled in a zipper fashion, resist compression in the normal direction. A wider application of zipper-coupled tubes, however, ... -
“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion
(The American Society of Mechanical Engineers (ASME), 2023)This paper presents on the edge obstacle surmounting method for QuadRunner, a hybrid quadruped robot, to overcome obstacles using hybrid locomotion where both legged and wheel configurations are utilized. When obstacle ... -
Approach for Real InHand Dexterity Evaluation: Application to the RoBioSS Hand
(The American Society of Mechanical Engineers (ASME), 2023)The development of flexible multidigital grippers with both adaptive grasping and inhand manipulation capabilities remains a complex issue for humanlike dexterous manipulation. After four decades of research in dexterous ... -
Design of a Novel Flexible Robotic Laparoscope Using a Two DegreesofFreedom CableDriven Continuum Mechanism With Major Arc Notches
(The American Society of Mechanical Engineers (ASME), 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 degreesoffreedom (DOFs) continuum mechanism driven by two pairs ... -
Adaptive FractionalOrder FastTerminalType Sliding Mode Control for Underwater VehicleManipulator Systems
(The American Society of Mechanical Engineers (ASME), 2023)This article proposes an adaptive fractionalorder fastterminaltype sliding mode control method to solve the trajectory tracking problem of the underwater vehiclemanipulator system in the presence of large dynamic uncertainties ... -
Hierarchical Sliding Mode Control for the Trajectory Tracking of a TendonDriven Manipulator
(The American Society of Mechanical Engineers (ASME), 2023)The tracking control of tendondriven 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 of ... -
Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms
(The American Society of Mechanical Engineers (ASME), 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 HeavyDuty Automated Fiber Placement Robot Considering Compliance and JointDependent Errors
(The American Society of Mechanical Engineers (ASME), 2023)The accuracy of industrial robots is critical in many manufacturing applications. In this case, a selfdeveloped automated fiber placement heavyduty robot is used for the layup of carbon fiber composite prepregs, which ... -
An Analytical Stress–Deflection Model for FixedClamped Flexures Using a PseudoRigidBody Approach
(The American Society of Mechanical Engineers (ASME), 2023)Fixedclamped 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 stressdeflection 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), 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 ... -
Topology Optimization Method for Designing Compliant Mechanism With Given Constant Force Range
(The American Society of Mechanical Engineers (ASME), 2023)This article presents a modified evolutionary topology optimization method for designing compliant constant force mechanisms (CFMs). CFM is defined as the mechanism that can generate constant force in the desired input ... -
Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism
(The American Society of Mechanical Engineers (ASME), 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 ... -
SelfAdaptive Grasping Analysis of a Simulated “Soft” Mechanical Grasper Capable of SelfLocking
(The American Society of Mechanical Engineers (ASME), 2023)In this paper, a simulated “soft” mechanical grasper (GXUGrasper) with selflocking capability, selfadaptive object shape, singledegree of actuation, and full rigid structure is taken as the research object, and its ... -
A ZigzagBased ThicknessAccommodating Foldable Prismatic Structure With a SingleDegreeofFreedom
(The American Society of Mechanical Engineers (ASME), 2023)Origami inspires various designs of foldable prismatic structures with zerothickness facets. However, there is a difficulty in directly applying them to thick materials. This paper presents a novel design of the foldable ... -
Kinematics and Statics of a 3UPU Robot in Screw Coordinates
(The American Society of Mechanical Engineers (ASME), 2023)This paper investigates the kinematics and statics of a 3UPU robot in screw coordinates. According to the definition of a twist, both the angular velocity of a rigid body and the linear velocity of a point on it are expressed ... -
A Variable Stiffness EndofArm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators
(The American Society of Mechanical Engineers (ASME), 2023)Variable stiffness endofarm actuators can add dynamic manipulation capabilities to stiff manipulators and simultaneously enhance safety. The presence of an elastic element in these actuators can be used for absorbing impact ...