Journal of Mechanisms and Robotics: Recent submissions
Now showing items 541-560 of 1771
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Modeling of Flexible-Link Manipulators Under Uncertain Parameters Based on Stochastic Finite Element Method
(The American Society of Mechanical Engineers (ASME), 2022)This paper presents a novel approach to obtain the dynamic model of flexible-link manipulators based on the stochastic finite element method. The links and elements of flexible manipulators are affected by uncertainties. ... -
Position-Access Workspace of Slender Soft Manipulators
(The American Society of Mechanical Engineers (ASME), 2022)In this article, we investigate the position-access workspace estimation of slender soft manipulators controlled via arranged bounded actuators. For this, we implement a so-called forward-backward approach on the mathematical ... -
Kinematic Analysis and Dimension Optimization of a New Reconfigurable Parallel Mechanism With 1R2T and 2R1T Operation Modes
(The American Society of Mechanical Engineers (ASME), 2022)This paper introduces a novel reconfigurable parallel mechanism (RPM) consisting of two PRU limbs (P denotes a prismatic joint, R denotes a revolute joint, U denotes a universal joint) and one PUU limb. The proposed RPM ... -
Real-Time Reconfiguration Planning for the Dynamic Control of Reconfigurable Cable-Driven Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2022)The movable anchor points make reconfigurable cable-driven parallel robots (RCDPRs) advantageous over conventional cable-driven parallel robots with fixed anchor points, but the movable anchor points also introduce an ... -
Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 0310
(The American Society of Mechanical Engineers (ASME), 2022)This closure exposes the technical inconsistencies, erroneous comments, and misconceptions contained in the Discussion Article (Medrano-Cerda, 2020, “Discussion: ‘Selective Compliance-Based Lagrange Model and Multilevel ... -
Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
(The American Society of Mechanical Engineers (ASME), 2022)The present comment concerns the above paper. [DOI: 10.1115/1.4039394] -
A Snake-Inspired Swallowing Robot Based on Hoberman’s Linkages
(The American Society of Mechanical Engineers (ASME), 2022)To solve the problems of existing swallowing robots, such as low load capacity, small deploy/fold ratio, and small swallowing space, this article presents a new snake-inspired swallowing robot (SSR) that can synchronously ... -
A Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator
(The American Society of Mechanical Engineers (ASME), 2022)Soft manipulators attract increasing interest in robotic applications involving the unstructured environment and human-robot interaction. The majority of the soft manipulator with fluidic actuators consists of joints that ... -
Enumerating the Nonisomorphic Configurations of a Modular Reconfigurable Robot
(The American Society of Mechanical Engineers (ASME), 2022)By introducing the modular and reconfigurable design, the limbs of a hexapod robot can be assembled into different configurations to meet various task requirements. Contrary to the fixed configuration system, the task ... -
Design, Analysis, and Experiment of a Scissor-Shaped Deployable Metamorphic Hand
(The American Society of Mechanical Engineers (ASME), 2022)It is necessary to innovatively design the dexterity and applicability of end-effector to solve the last centimeter problem of automated production. This paper presents a scissor-shaped deployable metamorphic hand (SDMH). ... -
Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains
(The American Society of Mechanical Engineers (ASME), 2022)Within the wide field of self-assembly, the self-folding chain has unique potential for reliable and repeatable assembly of three-dimensional structures as demonstrated by protein biosynthesis. This potential could be ... -
Eccentric High-Force Soft Pneumatic Bending Actuator for Finger-Type Soft Grippers
(The American Society of Mechanical Engineers (ASME), 2022)Soft pneumatic actuators (SPAs) play an important role in leading the development of soft robotics. However, due to the inherent characteristics of soft materials, the low driving force limits the application of SPAs. This ... -
Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism
(The American Society of Mechanical Engineers (ASME), 2022)This article presents the Origaker, a novel multi-mimicry quadruped robot. Based on a single-loop spatial metamorphic mechanism, the Origaker is able to transform between different working modes, as the reptile-, arthropod-, ... -
A Modular Open-Source Continuum Manipulator for Underwater Remotely Operated Vehicles
(The American Society of Mechanical Engineers (ASME), 2022)Continuum manipulators are a class of robots with many degrees-of-freedom, leading to highly flexible motion with inherent compliance. These attributes make them well suited for manipulation tasks and physical interaction ... -
Increasing Reliability of Self-Folding of the Origami Hypar
(The American Society of Mechanical Engineers (ASME), 2022)Self-folding systems, which can transform autonomously from a flat sheet into a 3D machine, provide opportunities for rapidly fabricable robots that are deployable on-demand. Existing self-folding fabrication processes ... -
Announcing the 2021 Best Paper Award and Honorable Mention
(The American Society of Mechanical Engineers (ASME), 2022)Together with the Editorial Board of the Journal of Mechanisms and Robotics (JMR), I am pleased to announce the winner of the journal's 2021 Best Paper Award:P. Reinier Kuppens, Miguel A. Bessa, Just L. Herder, and Jonathan ... -
Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface
(The American Society of Mechanical Engineers (ASME), 2022)From the list of interfaces used in virtual reality systems, haptic interfaces allow users to touch a virtual world with their hands. Traditionally, the user’s hand moves the end-effector of a robotic arm. When there is ... -
An Analytic and Computational Condition for the Finite Degree-of-Freedom of Linkages, and Its Relation to Lie Group Methods
(The American Society of Mechanical Engineers (ASME), 2022)The finite degree of freedom (DOF) of a mechanism is determined by the number of independent loop constraints. In this paper, a method to determine the maximal number of loop closure constraints (which is independent of a ... -
Classification of 3-Degree-of-Freedom 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover
(The American Society of Mechanical Engineers (ASME), 2022)A 3-degree-of-freedom (DOF) 3-UPU translational parallel mechanism (TPM) is one of the typical TPMs. Despite comprehensive studies on 3-UPU TPMs in which the joint axes on the base and the moving platform are coplanar, ... -
Geometry and Kinematics of Cylindrical Waterbomb Tessellation
(The American Society of Mechanical Engineers (ASME), 2022)Folded surfaces of origami tessellations have attracted much attention because they often exhibit nontrivial behaviors. It is known that cylindrical folded surfaces of waterbomb tessellation called waterbomb tube can ...