Journal of Mechanisms and Robotics: Recent submissions
Now showing items 641-660 of 1771
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Cosimulation and Control of a Single-Wheel Pendulum Mobile Robot
(The American Society of Mechanical Engineers (ASME), 2021)Cosimulation is widely used as a powerful tool for performance evaluation of systems design. This approach presents advantages over traditional design methodologies for saving money and time in the development process and ... -
Vision-Based Control of a Mobile Manipulator With an Adaptable-Passive Suspension for Unstructured Environments
(The American Society of Mechanical Engineers (ASME), 2021)The kinematic design, development, and navigation control of a new autonomous mobile manipulator for unstructured terrain is presented in this work. An innovative suspension system is designed based on the kinematic synthesis ... -
Genetic Algorithm-Based Optimal Design of a Rolling-Flying Vehicle
(The American Society of Mechanical Engineers (ASME), 2021)This work describes a design optimization framework for a rolling-flying vehicle consisting of a conventional quadrotor configuration with passive wheels. For a baseline comparison, the optimization approach is also applied ... -
Increasing Mobile Robot Efficiency and Versatility Through Manipulation-Driven Adaptation1
(The American Society of Mechanical Engineers (ASME), 2021)Terrestrial mobile robotics are crucial to a range of missions including planetary exploration, search and rescue, logistics, and national security. Many of these missions require the robot to operate on a broad variety ... -
Data-Driven Analysis of Locomotion for a Class of Articulated Mobile Robots
(The American Society of Mechanical Engineers (ASME), 2021)In the recent past, the use of autonomous vehicles is becoming of relevant interest in several fields of application. In many cases, the use of articulated structures is preferred to single chassis robots for their peculiar ... -
Control and Control Allocation for Bimodal, Rotary Wing, Rolling–Flying Vehicles
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents a robust method for controlling the terrestrial motion of a bimodal multirotor vehicle that can roll and fly. Factors influencing the mobility and controllability of the vehicle are explored and compared ... -
Design and Development of a Tracked Robot to Increase Bulk Density of Flax Fibers
(The American Society of Mechanical Engineers (ASME), 2021)This article presents an integrated mechanics study for the design and the development of a service tracked robot able to move inside a truck container and roll over flax raw material by compressing it to increase its ... -
Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study
(The American Society of Mechanical Engineers (ASME), 2021)An accurate modeling, simulation, and estimation of the wheel-terrain interaction and its effects on a robot movement plays a key role in control and navigation tasks, specially in constantly changing environments. We study ... -
The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial ... -
Special Section: Mobile Robots and Unmanned Ground Vehicles
(The American Society of Mechanical Engineers (ASME), 2021)Inspired by the fifth-year anniversary celebration of the homonymous symposium at the International Mechanical Engineering Congress & Exposition (IMECE), this Special Section with ten articles shares the latest research ... -
Erratum: “Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing” [ASME J. Mech. Rob. 9(4), p. 041016; DOI: 10.1115/1.4036739]
(The American Society of Mechanical Engineers (ASME), 2021)The first author's name in the publication is incorrect. The correct author's name is given as follows:Author: João Cavalcanti Santos. -
Design of a Novel Parallel Mechanism for Haptic Device
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents a novel parallel architecture with seven active degrees-of-freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working ... -
Design and Analysis of a Novel Reconfigurable Parallel Manipulator With Kirigami-Inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors
(The American Society of Mechanical Engineers (ASME), 2021)Drawing inspiration from kirigami, this article first presents the crease pattern of a kirigami model which is kinematically equivalent to a Bennett plano-spherical linkage. In terms of the screw theory, distinct closed-loop ... -
Kinematic Analysis and Optimal Design of a Novel Schönflies-Motion Parallel Manipulator With Rotational Pitch Motion for Assembly Operations
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents a novel Schönflies-motion Parallel Manipulator with RotationalPitch motion (SPM-RP) based on a single-platform fully parallel mechanism. An analysis of the position, workspace, velocity, and singularity ... -
Kinetostatic Modeling of Dual-Drive H-Type Gantry With Exchangeable Flexure Joints
(The American Society of Mechanical Engineers (ASME), 2021)The flexure joints are proposed to replace the rigid assembly between the cross-arm and the moving carriages of dual-drive H-type gantry (DHG) for higher reliability and fine rotational alignments. In the literature, the ... -
A Distribution Method of Driving Torque for a Novel 3UPS-RR Redundant Solar Tracker
(The American Society of Mechanical Engineers (ASME), 2021)This paper proposes a novel two-axis solar tracker with a redundant parallel mechanism and investigates the distribution method of driving torque. In view of the difference between the singular configuration of the redundant ... -
Statically Balancing a Reconfigurable Mechanism by Using One Passive Energy Element Only: A Case Study
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents the static balancing design of a special reconfigurable linkage that can switch between two one-degree-of-freedom (DoF) working configurations. We will show that the studied dual-mode linkage only ... -
Exploiting Redundancies for Workspace Enlargement and Joint Trajectory Optimization of a Kinematically Redundant Hybrid Parallel Robot
(The American Society of Mechanical Engineers (ASME), 2021)In this paper, possibilities for workspace enlargement and joint trajectory optimization of a (6 + 3)-degree-of-freedom kinematically redundant hybrid parallel robot are investigated. The inverse kinematic problem of the ... -
Joint Equivalence Design and Analysis of a Tensegrity Joint
(The American Society of Mechanical Engineers (ASME), 2021)We propose a method to design a tensegrity joint, making its elastic deformation an accurate joint-like motion, such as a rotation around the designed rotational center. The tensegrity joint can be a revolute, universal, ... -
Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents the reconfigurable legged mobile lander (ReLML) with its modes from adjusting, landing, to roving. Based on the invented metamorphic variable-axis revolute hinge, the actuated link has three alternative ...