Journal of Mechanisms and Robotics: Recent submissions
Now showing items 601-620 of 1771
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A Flexure-Based Linear Guide With Torsion Reinforcement Structures
(The American Society of Mechanical Engineers (ASME), 2021)In this study, a flexure-based (compliant) linear guide with a motion range comparable to its footprint is presented. The design consists of two-folded leaf springs on which torsion reinforcement structures are added. Due ... -
Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees
(The American Society of Mechanical Engineers (ASME), 2021)With over 30 million people worldwide requiring assistive devices, there is a great need for low-cost and high-performance prosthetic technologies that can enable kinematics close to able-bodied gait. Low-income users of ... -
Folding Responses of Origami-Inspired Structures Connected by Groove Compliant Joints
(The American Society of Mechanical Engineers (ASME), 2021)The compliant mechanism can effectively reduce friction and eliminate the joint gap during the motion. The performances of compliant joints directly determine the overall behavior of mechanisms. In this paper, a new type ... -
Design and Compliant Control of a Piggyback Transfer Robot
(The American Society of Mechanical Engineers (ASME), 2021)Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair or a pedestal pan, is one of the most physically challenging tasks in nursing care. Although many transfer devices have been ... -
Locomotion Identification Method of One-Degree-of-Freedom Six-Bar for Jumping Robot
(The American Society of Mechanical Engineers (ASME), 2021)Exploring the locomotion of creatures is a challenging task in bionic robots, and the existing iterative design methods are mainly based on one or two characteristics to optimize robots. Here, we introduce the thinking of ... -
Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots
(The American Society of Mechanical Engineers (ASME), 2021)This article presents a nonlinear model of an inversion-based generalized cross-spring pivot (IG-CSP) using the beam constraint model (BCM), which can be employed for the geometric error analysis and the characteristic ... -
Design of the Wearable Spatial Gravity Balance Mechanism
(The American Society of Mechanical Engineers (ASME), 2021)Gravity compensation mechanisms are widely used in manipulators and exoskeletons as passive components that generate counter-gravity force and save energy. While there have been making great progresses in the design of ... -
Advances in the Theory of Planar Curve Cognates
(The American Society of Mechanical Engineers (ASME), 2021)Cognate linkages provide the useful property in mechanism design of having the same motion. This paper describes an approach for determining all coupler curve cognates for planar linkages with rotational joints. Although ... -
A Virtual Work Model for the Design and Parameter Identification of Cylindrical Pressure-Driven Soft Actuators
(The American Society of Mechanical Engineers (ASME), 2021)In this paper, we derive a model based on the principle of virtual work to describe the deformations of cylindrical pressure-driven soft actuators with four types of fiber reinforcement and with externally applied forces. ... -
Research on the Orientation Error of the Translational Cable-Driven Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2021)Parallel cables are widely used in cable-driven parallel robots (CDPR) to provide constraints to the end-effector and to realize translational degrees-of-freedom(DOFs). However, when there are structural errors, parallel ... -
The Hanging Drape: A Vertex Analogy
(The American Society of Mechanical Engineers (ASME), 2021)We present a novel, rigidly folding vertex inspired by the shape of the simplest hanging drape. Fold lines in the vertex correspond to pleats and ridges in the drape and are symmetrically arranged to enable synchronized ... -
Modeling of Soft Robotic Grippers Integrated With Fluidic Prestressed Composite Actuators
(The American Society of Mechanical Engineers (ASME), 2021)Soft robotic grippers can gently grasp and maneuver objects. However, they are difficult to model and control due to their highly deformable fingers and complex integration with robotic systems. This paper investigates the ... -
Self-Identification of Cable-Driven Exoskeleton Based on Asynchronous Iterative Method
(The American Society of Mechanical Engineers (ASME), 2021)The upper limb rehabilitation exoskeleton with cable-driven parallel structure has the advantages of light weight and large payload, etc. However, due to the non-rigid nature of the actuating cables and the different body ... -
Development of a Biomimetic Masticating Robot for Food Texture Analysis
(The American Society of Mechanical Engineers (ASME), 2021)Assessing the food texture via mastication is important for advancing knowledge of food properties so as to develop favorable and healthy food products. Oral processing of food by robots can enable an in vitro assessment ... -
Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions
(The American Society of Mechanical Engineers (ASME), 2021)This article addresses the path synthesis of RCCC (revolute-cylindrical-cylindrical-cylindrical) linkages, a problem that has not received due attention in the literature. Compared with planar and spherical four-bar linkages, ... -
Reviewer’s Recognition
(The American Society of Mechanical Engineers (ASME), 2022)The Editor and Editorial Board of the Journal of Mechanisms and Robotics would like to thank all of the reviewers for volunteering their expertise and time reviewing manuscripts in 2021. Serving as reviewers for the journal ... -
Erratum: “Torsional Stiffness Improvement of a Soft Pneumatic Finger Using Embedded Skeleton,” [ASME J. Mech. Rob. 12(1), p. 011016
(The American Society of Mechanical Engineers (ASME), 2021)The corresponding author designation was omitted from the paper “Torsional Stiffness Improvement of a Soft Pneumatic Finger Using Embedded Skeleton,” [JMR-19-1317]. Zhufeng Shao (shaozf@tsinghua.edu.cn) is the corresponding ... -
Design, Modeling, and Kinematics Analysis of a Modular Cable-Driven Manipulator
(The American Society of Mechanical Engineers (ASME), 2022)Modular manipulators have broad application prospects in the field of narrow confined space owing to their characteristics of superior dexterity. However, compared with traditional ones, their mechanism design, modeling, ... -
Human Temporomandibular Joint Motion: A Synthesis Approach for Designing a Six-Bar Kinematic Simulator
(The American Society of Mechanical Engineers (ASME), 2021)The human earcanal can accommodate several types of in-ear devices including hearing aids, earphones, hearing protectors, and earplugs. This canal-type home has a neighbor called the temporomandibular joint (TMJ) whose ... -
Symbolic Differentiation Algorithm for Inverse Dynamics of Serial Robots With Flexible Joints
(The American Society of Mechanical Engineers (ASME), 2021)A new symbolic differentiation algorithm is proposed in this paper to automatically generate the inverse dynamics of flexible-joint robots in symbolic form, and results obtained can be used in real-time applications. The ...