Journal of Mechanisms and Robotics: Recent submissions
Now showing items 621-640 of 1771
-
A Novel Tunable Stiffness Mechanism Using Filament Jamming
(The American Society of Mechanical Engineers (ASME), 2021)The jamming mechanism is a crucial method to tune the stiffness of soft-bodied machines to adapt to their surroundings. However, it is difficult for the present jamming structures to integrate them into systems with ... -
Computation of the Available Force Set of a 3-RPRR Kinematically Redundant Planar Parallel Manipulator
(The American Society of Mechanical Engineers (ASME), 2021)An algorithm is developed to determine the available force set (AFS) of the 3-RPRR kinematically redundant planar parallel manipulator. The results of the algorithm are verified against a brute force approach and are found ... -
A Calibration Method for Enhancing Robot Accuracy Through Integration of Kinematic Model and Spatial Interpolation Algorithm
(The American Society of Mechanical Engineers (ASME), 2021)Industrial robots are finding their niche in the field of machining due to their advantages of high flexibility, good versatility, and low cost. However, limited by the low absolute positioning accuracy, there are still ... -
Dexterity Analysis Based on Jacobian and Performance Optimization for Multi-Segment Continuum Robots
(The American Society of Mechanical Engineers (ASME), 2021)This paper focuses on the performance analysis of multi-segment continuum robots, including reachable workspace and dexterity performance. Since excellent dexterity is an important feature of continuum robots, two local ... -
Direct Kinematic Analysis of the Spatial Parallel Mechanism With 3-R(P)S Structure Based on the Point Pair Relationship
(The American Society of Mechanical Engineers (ASME), 2021)This paper demonstrates a novel geometric modeling and computational method of the family of spatial parallel mechanisms (PMs) with 3-R(P)S structure for direct kinematic analysis based on the point pair relationship. The ... -
Double-Layer Deployable Mechanical Network Constructed of Threefold-Symmetric Bricard Linkages and Sarrus Linkages
(The American Society of Mechanical Engineers (ASME), 2021)Threefold-symmetric (TFS) Bricard linkages are known for their excellent deployment performance properties. This paper proposes a novel networking method of TFS Bricard linkages and a double-layer mechanical network. First, ... -
Design, Dynamic Analysis, and Experimental Evaluation of a Hybrid Parallel–Serial Polishing Machine With Decoupled Motions
(The American Society of Mechanical Engineers (ASME), 2021)In this paper, a novel six degrees-of-freedom (DOF) hybrid kinematic machine (HKM) is designed, analyzed, and evaluated for precision polishing. The design adopts a 3-DOF tripod-based parallel mechanism (PM) to locate the ... -
Direct Position Analysis of a Particular Translational 3-URU Manipulator
(The American Society of Mechanical Engineers (ASME), 2021)Direct position analysis (DPA) of parallel manipulators (PMs) is in general difficult to solve. Over on PMs’ topology, DPA complexity depends on the choice of the actuated joints. From an analytic point of view, the system ... -
Optimization of Translational Flexure Joints Using Corrugated Units Under Stress Constraints
(The American Society of Mechanical Engineers (ASME), 2021)When optimizing corrugated flexure (CF) joints, most approaches for calculating the maximum stress on the CF beam depend on finite element analysis (FEA). The current paper introduces the design optimization for joints ... -
Untethered Microrobot Motion Mechanism With Increased Longitudinal Force
(The American Society of Mechanical Engineers (ASME), 2021)The importance of an untethered microrobotic platform that can operate on high flowrate microfluidic channels for in vitro applications is increasing rapidly. This article presents a method to manipulate a microrobot in a ... -
A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots
(The American Society of Mechanical Engineers (ASME), 2021)Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very ... -
Application of Floquet Theory to Human Gait Kinematics and Dynamics
(The American Society of Mechanical Engineers (ASME), 2021)In this work, the lower extremity physiological parameters are recorded during normal walking gait, and the dynamical systems theory is applied to determine a stability analysis. The human walking gait pattern of kinematic ... -
Analysis of Reachable Workspace for Spatial Three-Cable Under-Constrained Suspended Cable-Driven Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2021)The workspace is an important reference for designs of cable-driven parallel robots (CDPRs). Most current researches focus on calculating the workspace of redundant CDPRs. However, few literature study the workspaces of ... -
Design and Performance Evaluation of a Spherical Robot Assisted by High-Speed Rotating Flywheels for Self-Stabilization and Obstacle Surmounting
(The American Society of Mechanical Engineers (ASME), 2021)In order to reinforce the operation stability and obstacle capability of a spherical robot, this paper presents a spherical robot with high-speed rotating flywheel, the mechanical structure of which is mainly composed of ... -
A Mobile Mathieu Oscillator Model for Vibrational Locomotion of a Bristlebot
(The American Society of Mechanical Engineers (ASME), 2021)Terrestrial locomotion that is produced by creating and exploiting frictional anisotropy is common amongst animals such as snakes, gastropods, and limbless lizards. In this paper we present a model of a bristlebot that ... -
Development of a Hydraulic Driven Bionic Soft Gecko Toe
(The American Society of Mechanical Engineers (ASME), 2021)Geckos can climb freely on various types of surfaces using their flexible and adhesive toes. Gecko-inspired robots are capable of climbing on different surface conditions and have shown many important applications. ... -
Design and Prototyping of Rotational Bi-Stable Mechanism Using Permanent Magnets
(The American Society of Mechanical Engineers (ASME), 2021)Diverse applications including switches, deployable structures, and reconfigurable robots can benefit from bi-stability characteristics. However, the complexity of the implementation and the limitation of the structural ... -
Synthesis of Watt-Type Timed Curve Generators and Selection From Continuous Cognate Spaces
(The American Society of Mechanical Engineers (ASME), 2021)Following recent work on Stephenson-type mechanisms, the synthesis equations of Watt six-bar mechanisms that act as timed curve generators are formulated and systematically solved. Four variations of the problem arise by ... -
Kinetostatic Modeling of Planar Compliant Mechanisms With Flexible Beams, Linear Sliders, Multinary Rigid Links, and Multiple Loops
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents kinetostatic models of planar compliant mechanisms with multinary rigid links, multinary joints, sliders, and multiple loops based on the chained beam constraint model. The focus is on modeling of several ... -
Balance Recovery Based on Whole-Body Control Using Joint Torque Feedback for Quadrupedal Robots
(The American Society of Mechanical Engineers (ASME), 2021)In legged locomotion, the contact force between a robot and the ground plays a crucial role in balancing the robot. However, in quadrupedal robots, general whole-body controllers generate feed-forward force commands without ...