Journal of Mechanisms and Robotics: Recent submissions
Now showing items 501-520 of 1771
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Special Section: Theory and Design of Reconfigurable Mechanisms and Robots
(The American Society of Mechanical Engineers (ASME), 2022)Advanced robotic systems are expected to be smartly reconfigurable to adapt to new needs for versatile operations in rapidly changing unknown, uncertain environments. The evolution has led to worldwide research interest ... -
Erratum: “Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions” [ASME J. Mech. Rob., 14(2), p. 021011; DOI: 10.1115/1.4052336]
(The American Society of Mechanical Engineers (ASME), 2022)In the paper, Eq. (44) was provided improperly. The correct equation is given asM2j=[D4jD3jD2jD1jD0j00000F6jF5jF4jF3jF2jF1jF0j0000D4jD3jD2jD1jD0j00000F6jF5jF4jF3jF2jF1jF0j0000D4jD3jD2jD1jD0j00000F6jF5jF4jF3jF2jF1jF0j0000 ... -
Design of Adjustable Constant Force/Torque Mechanisms for Medical Applications
(The American Society of Mechanical Engineers (ASME), 2022)Safe tool-tissue interaction is critical in medicine. The exerted force or torque on the tissue is required to be under control. This paper presents a design framework for producing simple mechanisms with adjustable constant ... -
Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase
(The American Society of Mechanical Engineers (ASME), 2022)In many rescue and detection tasks, mobile robots are required to transverse over uneven terrains and enter some dangerous environments that people cannot overcome, such as crevices, pipes, gullies, etc. High mobility/speed ... -
Robust Design and Evaluation of a Novel Modular Origami-Enabled Mobile Robot (OSCAR)
(The American Society of Mechanical Engineers (ASME), 2022)This article presents critical design modifications for an Origami-enabled Soft Crawling Autonomous Robot (OSCAR). OSCAR’s upgraded design mitigates motion uncertainties, which often plague soft robots. More specifically, ... -
Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs
(The American Society of Mechanical Engineers (ASME), 2022)In this paper, a new 3-RPS (the limb consisting of one revolute, one prismatic, and one spherical joint)/US (universal joint and spherical joint) parallel mechanism with two degrees-of-freedom (DOFs) is obtained by adding ... -
Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain
(The American Society of Mechanical Engineers (ASME), 2022)Modular active cell robots (MACROs) is a design approach in which a large number of linear actuators and passive compliant joints are assembled to create an active structure with a repeating unit cell. Such a mesh-like ... -
Mechanical Characterization of Compliant Cellular Robots. Part I: Passive Stiffness
(The American Society of Mechanical Engineers (ASME), 2022)Modular active cell robots (MACROs) are a design paradigm for modular robotic hardware that uses only two components, namely actuators and passive compliant joints. Under the MACRO approach, a large number of actuators and ... -
Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations
(The American Society of Mechanical Engineers (ASME), 2022)Design optimizations of flexure-based mechanisms take a lot of computation time, in particular when large deformations are involved. In an optimization procedure, statically deformed configurations of many designs have to ... -
Design and Characterization of a Hollow and Duplex-Chambered Propulsion Module for Narrow Pipe Inspection
(The American Society of Mechanical Engineers (ASME), 2022)Conventional inspection procedures using industrial endoscope cameras find it challenging to inspect narrow pipes because the endoscope cannot be inserted in the pipes due to the increasing friction and complex pipe ... -
Stiffness Modulation of a Cable-Driven Serial-Chain Manipulator Via Cable Routing Alteration
(The American Society of Mechanical Engineers (ASME), 2022)Cable-driven serial-chain manipulators, CDSMs, are widely used from industries to human–robot interaction applications demanding diverse performance requirements. The CDSMs inherent characteristic of flexibility in altering ... -
A Structural Optimization Framework to Design Compliant Constant Force Mechanisms With Large Energy Storage
(The American Society of Mechanical Engineers (ASME), 2022)In this study, we present a structural optimization framework to design constant force mechanisms (CFMs) with high energy storage capacity. In the framework, the constant force behavior with a zero preload is defined to ... -
Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion
(The American Society of Mechanical Engineers (ASME), 2022)Series elastic actuators (SEAs) are increasingly popular in wearable robotics due to their high fidelity closed-loop torque control capability. Therefore, it has become increasingly important to characterize its performance ... -
Automatic Design of Dielectric Elastomer-Based Crawling Robots Using Shape and Topology Optimization
(The American Society of Mechanical Engineers (ASME), 2022)Dielectric elastomer-based crawling robots can utilize a voltage-induced deformation to achieve prescribed crawling movements. Although a rich repertoire of robots have been proposed with various design schemes, developing ... -
Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range
(The American Society of Mechanical Engineers (ASME), 2022)The small actuator torque range brings advantages for the high-accuracy control of a manipulator. By taking the minimum actuator torque range into account, this paper proposes a novel torque optimization method of a 3-DOF ... -
Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform
(The American Society of Mechanical Engineers (ASME), 2022)Kinematic redundancy can be exploited to improve the performance of parallel mechanisms. Nevertheless, motion planning and control of kinematically redundant parallel mechanisms (KRPMs) are the challenging problems. In ... -
Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot
(The American Society of Mechanical Engineers (ASME), 2022)This paper presents the wrench capability analysis, the controller design, and experimental results of an aerial robot flying gripper. This robot uses four quadrotors to actuate four fingers such as to grasp and manipulate ... -
Design, Analysis, and Experiment of an Underactuated Robotic Gripper Actuated by Linear Series Elastic Actuator
(The American Society of Mechanical Engineers (ASME), 2022)The primary motivation of this study is to develop a cost-effective, safe, easily controlled, and passively adaptive robotic gripper. A novel linear series elastic actuated robotic gripper (LSEA-RG) is proposed to accomplish ... -
Three Degrees of Freedom-Based Master–Slave Uterine Manipulation Robot System for Laparoscopic Hysterectomy
(The American Society of Mechanical Engineers (ASME), 2022)A laparoscopic hysterectomy has been highlighted to early diagnose uterine and cervical cancers. Reflecting these needs, commercial uterine manipulators employing a kinematic linkage system without mechanical actuators ... -
Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation
(The American Society of Mechanical Engineers (ASME), 2022)A key aspect of robotics and automation is continuous repetition of predefined travel and actions. One such example is a robotic gripper, gripping an object, retracting, and displacing it. Usually, two separate actuations ...