Journal of Mechanisms and Robotics: Recent submissions
Now showing items 561-580 of 1771
-
Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots With Elastic Cables: A Neural Network Approach
(The American Society of Mechanical Engineers (ASME), 2022)Kinematic analysis of under-constrained cable-driven parallel robots (CDPR) has been a topic of interest because of the inherent coupling between the loop-closure and static equilibrium equations. The non-linearity of the ... -
Locking Zipper-Coupled Origami Tubes for Deployable Energy Absorption
(The American Society of Mechanical Engineers (ASME), 2022)Energy absorption devices are widely used to mitigate damage from collisions and impact loads. Due to the inherent uncertainty of possible impact characteristics, passive energy absorbers with fixed mechanical properties ... -
Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
(The American Society of Mechanical Engineers (ASME), 2022)Mobile robots with manipulation capability are a key technology that enables flexible robotic interactions, large area covering and remote exploration. This paper presents a novel class of actuation-coordinated mobile ... -
Design and Evaluation of a Parallel Cable-Driven Shoulder Mechanism With Series Springs
(The American Society of Mechanical Engineers (ASME), 2021)Upper limb paralysis and movement disorders resulting from neurologic injuries can be treated with an upper limb exoskeleton robot that assists with movement retraining. Cable-driven exoskeletons have been widely studied ... -
Kinematics, Dynamics, and Experiments of n(3RRlS) Reconfigurable Series–Parallel Manipulators for Capturing Space Noncooperative Targets
(The American Society of Mechanical Engineers (ASME), 2022)The kinematics and dynamics of n(3RRlS) reconfigurable series–parallel manipulators (RSPMs) are the theoretical foundations for capturing noncooperative targets in space. In this study, a unified kinematic and dynamic ... -
A Reconfigurable Modular Fixture With Redundant Actuation
(The American Society of Mechanical Engineers (ASME), 2022)The rapid development of the automotive industry calls for large demands for fixtures with high modularity and full flexibility. A novel reconfigurable modular fixture is proposed in this article. The fixture, which provides ... -
Novel Methodology for Inflection Circle-Based Synthesis of Straight Line Crank Rocker Mechanism
(The American Society of Mechanical Engineers (ASME), 2022)Emerging fields like Compact Compliant Mechanisms have created newer/novel situations for application of straight line mechanisms. Many of these situations in Automation and Robotics are multidisciplinary in nature. ... -
Denavit-Hartenberg Notation-Based Kinematic Constraint Equations for Forward Kinematics of the 3–6 Stewart Platform
(The American Society of Mechanical Engineers (ASME), 2022)This paper presents a new forward kinematic approach for the 3–6 Stewart platform. In the 3–6 Stewart platform, the position and orientation of the moving platform can be determined through kinematic constraint equations ... -
Design and Experimental Verification of a Parallel Hip Exoskeleton System for Full-Gait-Cycle Rehabilitation
(The American Society of Mechanical Engineers (ASME), 2022)Rehabilitation with exoskeletons after hip joint replacement is a tendency to achieve efficient recovery of people to rebuild their human motor functions. However, the kinematic mismatch between the kinematic and biological ... -
Rigid-Foldable Mechanism Inspired by Origami Twisted Tower
(The American Society of Mechanical Engineers (ASME), 2022)Rigid origami mechanisms have great practical utility in different fields. This paper presents a rigid and foldable mechanism based on the origami artwork Twisted Tower. The mathematical model of the funnel-shaped tower ... -
Spring Configurations and Attachment Angles Determination for Statically Balanced Planar Articulated Manipulators
(The American Society of Mechanical Engineers (ASME), 2022)Admissible spring configurations for statically balanced planar articulated manipulators have been investigated in previous studies. However, in these spring configurations, springs are only identified by the connection ... -
Design of a Noncircular Gear Mechanism With Twice Unequal Amplitude Transmission Ratio
(The American Society of Mechanical Engineers (ASME), 2022)This article proposes a new noncircular gear transmission mechanism with an involute–cycloid composite tooth profile to obtain the twice unequal amplitude transmission of noncircular gears. That is, the instantaneous ... -
Efficient Model-Free Calibration of a 5-Degree of Freedom Hybrid Robot
(The American Society of Mechanical Engineers (ASME), 2022)The pose accuracy is a crucial issue that limits the application of hybrid robots. The model-free calibration instead of complex error modeling is investigated to improve the pose accuracy of a 5-degrees-of-freedom (DOF) ... -
A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms
(The American Society of Mechanical Engineers (ASME), 2022)Mobile robots can replace rescuers in rescue and detection missions in complex and unstructured environments and draw the interest of many researchers. This paper presents a novel six-wheeled mobile robot with a reconfigurable ... -
Modeling of Industrial Robot Kinematics Using a Hybrid Analytical and Statistical Approach
(The American Society of Mechanical Engineers (ASME), 2022)Industrial robots are highly desirable in applications including manufacturing and surgery. However, errors in the modeling of the kinematics of robotic arms limit their positional accuracy in industrial applications. ... -
Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model
(The American Society of Mechanical Engineers (ASME), 2022)Cable-driven parallel robots (CDPRs) are a kind of mechanism with large workspace, fast response, and low inertia. However, due to the existence of various sources of error, it is unavoidable to bring uncertain cable lengths ... -
Planar Compliance Realization With Two 3-Joint Serial Mechanisms
(The American Society of Mechanical Engineers (ASME), 2022)In this paper, the realization of any specified planar compliance with two 3R serial elastic mechanisms is addressed. Using the concept of dual elastic mechanisms, it is shown that the realization of a compliant behavior ... -
Algorithmic Selection of Preferred Grasp Poses Using Manipulability Ellipsoid Forms
(The American Society of Mechanical Engineers (ASME), 2022)An algorithm to search for a kinematically desired robotic grasp pose with rolling contacts is presented. A manipulability measure is defined to characterize the grasp for multi-fingered robotic handling. The methodology ... -
A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance
(The American Society of Mechanical Engineers (ASME), 2022)This article presents a numerically stable algorithm for analytic inverse kinematics of 7-DoF S-R-S manipulators with joint limit avoidance. The arm angle is used to represent the self-motion manifold within a global arm ... -
Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs
(The American Society of Mechanical Engineers (ASME), 2022)Typically, for pick-and-place robots operating at high speeds, an enormous amount of energy is lost during the robot braking phase. This is due to the fact that, during such operational phase, most of the energy is dissipated ...