Journal of Mechanisms and Robotics: Recent submissions
Now showing items 581-600 of 1771
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Development of Topology Optimized Bending-Twisting Soft Finger
(The American Society of Mechanical Engineers (ASME), 2022)This paper proposed a systematic framework to automatically design and fabricate optimized soft robotic fingers. The soft finger is composed of a soft silicone structure with inner air chambers and a harder outer layer, ... -
Modeling and Analysis of a Soft Endoluminal Inchworm Robot Propelled by a Rotating Magnetic Dipole Field
(The American Society of Mechanical Engineers (ASME), 2022)In clinical practice, therapeutic and diagnostic endoluminal procedures of the human body often use a scope, catheter, or passive pill-shaped camera. Unfortunately, such devices used in the circulatory system and ... -
Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy
(The American Society of Mechanical Engineers (ASME), 2022)In this paper, a robotic ankle–foot orthosis (AFO) is developed for individuals with a paretic ankle, and an impedance-based assist-as-needed controller is designed for the robotic AFO to provide adaptive assistance. First, ... -
A Review of Bat-Inspired Shape Morphing Robotic Design
(The American Society of Mechanical Engineers (ASME), 2022)By virtue of distinguished wing shape morphing characteristics, the unrivaled agility and flight maneuverability of bats have inspired scientists and engineers to develop novel forms of robots that can fly like bats. The ... -
Neural Network Based Transfer Learning for Robot Path Generation
(The American Society of Mechanical Engineers (ASME), 2022)In this paper, an artificial neural network (ANN)-based transfer learning approach of inverse displacement analysis of robot manipulators is studied. ANNs with different structures are applied utilizing data from different ... -
A Multi-Objective Mechanism Optimization for Controlling an Aircraft Using a Bio-Inspired Rotating Empennage
(The American Society of Mechanical Engineers (ASME), 2022)This paper presents a mechanism design optimization for actuating the horizontal stabilizers of an aircraft using a rotating empennage without a vertical stabilizer. Birds do not have vertical stabilizers and rotate their ... -
Toward the Design of Kresling Tower Origami As a Compliant Building Block
(The American Society of Mechanical Engineers (ASME), 2022)In this paper, the use of the Kresling tower origami as a building block for compliant mechanism design is considered. To help building systems using this origami, models are derived to link the origami pattern geometry ... -
Triple Crossed Flexure Pivot Based on a Zero Parasitic Center Shift Kinematic Design
(The American Society of Mechanical Engineers (ASME), 2022)Thanks to their absence of play, absence of contact friction and possible monolithic fabrication, flexure pivots offer advantages over traditional bearings in small-scale, high accuracy applications and environments where ... -
Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt
(The American Society of Mechanical Engineers (ASME), 2022)Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace, and high dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved ... -
Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept
(The American Society of Mechanical Engineers (ASME), 2022)The exploration of new lands has always been a source of motivation for mankind. Despite the common idea that our planet is fully known, a huge number of inaccessible places still remain unvisited today, especially below ... -
Shrinkable Self-Similar Structure Design
(The American Society of Mechanical Engineers (ASME), 2022)Origami techniques, as folding and unfolding, can be utilized in shrinkable structures. Especially when the crease pattern is rigid foldable, it can be treated as a mechanical linkage of rigid panels connected by hinges. ... -
A Family of Novel Compliant Linear-Motion Mechanisms Based on Compliant Rolling-Contact Element Pivot
(The American Society of Mechanical Engineers (ASME), 2022)Compliant linear-motion mechanisms are of great use in precision machines due to their excellent performances such as infinite resolution and low cost. The accuracy of the mechanisms is an important consideration for ... -
The Mixed-Body Model: A Method for Predicting Large Deflections in Stepped Cantilever Beams
(The American Society of Mechanical Engineers (ASME), 2022)This paper presents a method for predicting endpoint coordinates, stress, and force to deflect stepped cantilever beams under large deflections. This method, the mixed-body model or MBM, combines small deflection theory ... -
Comparison of Under-Actuated and Fully Actuated Serial Robotic Arms: A Case Study
(The American Society of Mechanical Engineers (ASME), 2021)Under-actuated robots are very interesting in terms of cost and weight since they can result in a state-controllable system with a number of actuators lower than the number of joints. In this paper, a comparison between ... -
Hydrodynamics Modeling of a Piezoelectric Micro-Robotic Fish With Double Caudal Fins
(The American Society of Mechanical Engineers (ASME), 2021)An analytical hydrodynamics model for a piezoelectric micro-robotic fish with double caudal fins is presented in this paper. The relation between displacement of the piezoelectric actuator and oscillating angle of the ... -
Determination of the Inverse Kinematics Branches of Solution Based on Joint Coordinates for Universal Robots-Like Serial Robot Architecture
(The American Society of Mechanical Engineers (ASME), 2021)This paper introduces a classification of the inverse kinematics solutions (or robot postures) of six degrees-of-freedom serial robots with a geometry based on or similar to Universal Robots’ arms. The solution of the ... -
Measurement Configuration Optimization and Kinematic Calibration of a Parallel Robot
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents the kinematic calibration of a four-degrees-of-freedom (4DOF) high-speed parallel robot. In order to improve the calibration effect by decreasing the influence of the unobservable disturbance variables ... -
Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties
(The American Society of Mechanical Engineers (ASME), 2021)This article proposes a method for analyzing the gravity balancing reliability of spring-articulated serial robots with uncertainties. Gravity balancing reliability is defined as the probability that the torque reduction ... -
Theoretical Analysis on Nonlinear Buckling, Post-Buckling of Slender Beams and Bi-Stable Mechanisms
(The American Society of Mechanical Engineers (ASME), 2021)Compliant mechanisms (CMs) are used to transfer motion, force, and energy, taking advantages of the elastic deformation of the involved compliant members. A branch of special type of elastic phenomenon called (post) buckling ... -
A Computational Design Synthesis Method for the Generation of Rigid Origami Crease Patterns
(The American Society of Mechanical Engineers (ASME), 2021)Today most origami crease patterns used in technical applications are selected from a handful of well-known origami principles. Computational algorithms capable of generating novel crease patterns either target artistic ...