Journal of Mechanisms and Robotics: Recent submissions
Now showing items 481-500 of 1771
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On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm
(The American Society of Mechanical Engineers (ASME), 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 MultiFingered Bionic Hand With Variable Stiffness for Robotic Grasp
(The American Society of Mechanical Engineers (ASME), 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 multifingered bionic hand with variable ... -
Sensitivity Analysis and Accuracy Synthesis of a Deployable Antenna Considering Clearances and Link Tolerances
(The American Society of Mechanical Engineers (ASME), 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 GearSpring Balancer With Variable Payloads and Its Application to Serial Robots
(The American Society of Mechanical Engineers (ASME), 2022)This paper presents a method for realizing a gearspring balancer (GSB) that can cope with variable payloads and its application to serial robots. The GSB is constructed with a threegear train articulating a nonzerofreelength ... -
A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress
(The American Society of Mechanical Engineers (ASME), 2022)By considering both motion smoothness and dynamic stress, a trajectory planning method for delta robots, with the goal of determining the two optimal normalized time factors that dominate the motion path in operation space, ... -
A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic ActuatorBased Gripper
(The American Society of Mechanical Engineers (ASME), 2022)This article introduces a hapticguided 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), 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 RedundancyInduced Rigidity Enhancement of a Parallel Manipulator
(The American Society of Mechanical Engineers (ASME), 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 3RPS/(H) Metamorphic Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2022)3RPS/(H) Metamorphic parallel mechanism based on conventional mechanisms is proposed in this study. In contrast to the 3RPS mechanism, the 3RPS/(H) mechanism comprises a novel intermediate metamorphic limb. The different ... -
An EnergySaving Snake Locomotion Pattern Learned in a Physically Constrained Environment With Online ModelBased Policy Gradient Method
(The American Society of Mechanical Engineers (ASME), 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 ThreeDegreeofFreedom FlexureBased Planar Parallel Micro Manipulator
(The American Society of Mechanical Engineers (ASME), 2022)Micro positioning systems are popular devices to achieve ultrahigh precision motion. In this paper, a threedegreeoffreedom (3DOF) flexurebased planar parallel micro manipulator is presented. The existing literature focusing ... -
A New WholeBody Motion Generator and Adaptive Altitude Control for a QuadrupedOnWheel Robot
(The American Society of Mechanical Engineers (ASME), 2022)This paper proposes a new wholebody motion generator for a quadrupedonwheel robot that can cross various rough terrains, especially with a muchaltitude difference. The motion generator combines the kinematics model, the ... -
Design of Hybrid Fully Actuated and SelfAdaptive Mechanism for Anthropomorphic Robotic Finger
(The American Society of Mechanical Engineers (ASME), 2022)Prior research on robotic hands predominantly focused on high degreesoffreedom of fully actuated fingers to replicate a natural human hand or on creative designs of underactuated fingers to make a selfadaptive motion. ... -
Modeling and Analysis of TendonDriven Parallel Continuum Robots Under Constant Curvature and PseudoRigidBody Assumptions
(The American Society of Mechanical Engineers (ASME), 2022)This article unifies the approaches of kinematic and static modeling, and singularity analysis for tendondriven parallel continuum robots under constant curvature as well as pseudorigidbody assumptions with those implemented ... -
Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm
(The American Society of Mechanical Engineers (ASME), 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) ... -
MultiKeel Passive Prosthetic Foot Design Optimization Using the Lower Leg Trajectory Error Framework
(The American Society of Mechanical Engineers (ASME), 2022)People with lowerlimb amputation in low and middleincome 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), 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. ... -
DynoKinematic Leg Design for High Energy Robotic Locomotion
(The American Society of Mechanical Engineers (ASME), 2022)Animal legs are capable of a tremendous breadth of distinct dynamic behaviors. As robots pursue this same degree of flexibility in their behavioral repertoire, the design of the power transition mechanism from joint to ... -
A Survey of Wheeled Mobile Manipulation: A DecisionMaking Perspective
(The American Society of Mechanical Engineers (ASME), 2022)Mobile manipulators that combine base mobility with the dexterity of an articulated manipulator have gained popularity in numerous applications ranging from manufacturing and infrastructure inspection to domestic service. ... -
A Rigid Morphing Mechanism Enabled EarthwormLike Crawling Robot
(The American Society of Mechanical Engineers (ASME), 2022)Inspired by natural earthworms’ locomotion mechanism, this paper investigates how the earthworm’s muscle works and presents the approach to mimic segmental muscle by employing rigid elementsbased morphing structures. ...