Journal of Mechanisms and Robotics: Recent submissions
Now showing items 461-480 of 1771
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Dynamic Stiffness Matrix With Timoshenko Beam Theory and Linear Frequency Solution for Use in Compliant Mechanisms
(The American Society of Mechanical Engineers (ASME), 2023)The kinetostatic and dynamic formulation of planarcompliant mechanisms is investigated by making use of the dynamic stiffness method based on Timoshenko beam theory. This research is prompted by the significance of considering ... -
Sensitivity Analysis of a Suspended CableDriven Parallel Robot to Design Parameters
(The American Society of Mechanical Engineers (ASME), 2023)Cabledriven parallel robots (CDPRs) are system driven exclusively by cables, giving them advantages in operation. However, this also introduces complexity into their mechanical behavior. Indeed, the cable elasticity is ... -
Sensing Design, Trajectory Planning, and Motion Control of a CableDriven Redundant Manipulator Composed of Quaternion Joints
(The American Society of Mechanical Engineers (ASME), 2022)A cabledriven 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), 2022)In this paper, a new reconfigurable 6R linkage is obtained by combining two identical equilateral Bennett linkages arranged in a planesymmetric manner, and a detailed kinematic analysis is conducted which shows that there ... -
EnergyBased Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
(The American Society of Mechanical Engineers (ASME), 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), 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 ... -
ShapeAdaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips
(The American Society of Mechanical Engineers (ASME), 2022)This paper proposes a shapeadaptive electroadhesion dielectric elastomer actuator (EADEA) pad gripper that can actively adapt to the shape of curved objects and quickly handle various objects by combining an EA pad and a ... -
A Walking Claw for Tethered Object Retrieval
(The American Society of Mechanical Engineers (ASME), 2022)Mobility and manipulation are often considered separately, with independent degreesoffreedom (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 Insitu Explosive Ordnance Disposal
(The American Society of Mechanical Engineers (ASME), 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 ... -
ThickPanel Origami Tubes With Hexagonal CrossSections
(The American Society of Mechanical Engineers (ASME), 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), 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 ZeroPotentialEnergy Motions: Theory and Experimental Validation
(The American Society of Mechanical Engineers (ASME), 2022)This article presents an experimental study with theory to identify quantitatively the zeropotentialenergy (ZP) motion in Cartesian impedance control of redundant manipulators, based on a new analytical methodology. This ... -
Analysis and Design of a Novel Compact ThreeDegreeofFreedom Parallel Robot
(The American Society of Mechanical Engineers (ASME), 2022)This paper introduces a novel compact threedegreeoffreedom (DOF) parallel robot that will be used as a leg of a 9DOF kinematically redundant parallel robot. First, the kinematic model of the robot is established based on ... -
Lockable LowerLimb Exoskeleton Based on a Novel VariableStiffness Joint: Reducing Physical Fatigue at Squatting
(The American Society of Mechanical Engineers (ASME), 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), 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), 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 ThreeDimensional Honeycomb Structures Based on Origami Geometry
(The American Society of Mechanical Engineers (ASME), 2022)Origami has shown the potential to design unique mechanical properties and complex threedimensional shapes by folding through designed crease patterns on flat materials. The authors investigated a new honeycombbased origami ... -
FoldingAngle Framework for Structural Modeling of Rigid Triangulated Miuraori Lattices
(The American Society of Mechanical Engineers (ASME), 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. Origamibased lattices that allow lowfrequency wavepropagation can ... -
Orientation Workspace Analysis and Parameter Optimization of 3RRPS Parallel Robot for Pelvic Fracture Reduction
(The American Society of Mechanical Engineers (ASME), 2022)For parallel robots with general configuration, it is difficult to achieve the large rotation range requirement for pelvic fracture reduction. Applicationbased workspace optimization is important. In this paper, a ... -
Informed SamplingBased Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles
(The American Society of Mechanical Engineers (ASME), 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 ...