Journal of Mechanisms and Robotics: Recent submissions
Now showing items 681-700 of 1771
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Inverted Honeycomb Cell as a Reinforcement Structure for Building Soft Pneumatic Linear Actuators
(The American Society of Mechanical Engineers (ASME), 2020)In this article, the inverted honeycomb cell, known to exhibit an auxetic behavior, is considered to design two pneumatic linear actuators. The actuators are built using a combination of soft and rigid structures. They ... -
Does a Finite-Time Double Support Period Increase Walking Stability for Planar Bipeds?
(The American Society of Mechanical Engineers (ASME), 2020)For many planar bipedal models, each step is divided into a finite time single support period and an instantaneous double support period. During single support, the biped is typically underactuated and thus has limited ... -
Theoretical and Experimental Study on Active Stiffness Control of a Two-Degrees-of-Freedom Rope-Driven Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2020)Rope-driven mechanisms with the characteristics of high speed, low inertia, and high precision are widely utilized in numerous fields. Stiffness is an important indicator to illustrate the precision and compliance of the ... -
Constructing Rigid-Foldable Generalized Miura-Ori Tessellations for Curved Surfaces
(The American Society of Mechanical Engineers (ASME), 2020)Origami has shown the potential to approximate three-dimensional curved surfaces by folding through designed crease patterns on flat materials. The Miura-ori tessellation is a widely used pattern in engineering and tiles ... -
A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment
(The American Society of Mechanical Engineers (ASME), 2020)Designing a mechanism for elbow self-axis alignment requires the elimination of undesirable joint motion and tissue elasticity. The novelty of this work lies in proposing a double-layered interface using a 3-PRR planar ... -
A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch
(The American Society of Mechanical Engineers (ASME), 2020)In soft robotics, there is still a great need for a universal but simple gripper that realizes a high level of adaptability as well as a gentle touch to a wide variety of unknown objects of different size, shape, stiffness, ... -
Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents a novel solution for the posture control and ride comfort between the proposed wheel-legged robot (four wheel-legged robot (FWLR)) and the unstructured terrain by means of an actively passively transformable ... -
Kinematic Modeling and Analysis of a Novel Bio-Inspired and Cable-Driven Hybrid Shoulder Mechanism
(The American Society of Mechanical Engineers (ASME), 2020)The robotic shoulder rehabilitation exoskeletons that do not take into consideration all shoulder degrees-of-freedom (DOFs) lead to undesirable interaction forces and cause discomfort to the patient due to the joint axes ... -
Design Framework and Clinical Evaluation of a Passive Hydraulic Patient Simulator for Biceps Spasticity Assessment Training
(The American Society of Mechanical Engineers (ASME), 2021)This article presents the framework for developing a passive (unpowered) mechanical training simulator for replication of biceps spasticity to complement current clinical assessment training. The passive training simulator ... -
Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots
(The American Society of Mechanical Engineers (ASME), 2021)The design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered ... -
Connectivity Calculation-Based Automatic Synthesis of Planar Multi-Loop Mechanisms
(The American Society of Mechanical Engineers (ASME), 2021)The creative design of kinematic structures with excellent performance remains an open issue in the quest for developing novel multi-loop mechanisms. This study presents an automatic method to synthesize all nonisomorphic ... -
Cable Behavior Influence on Cable-Driven Parallel Robots Vibrations: Experimental Characterization and Simulation
(The American Society of Mechanical Engineers (ASME), 2021)In this paper, the influence of cable behavior on cable-driven parallel robot (CDPR) is studied. This study is conducted with the goal of designing a medium size CDPR for additive manufacturing. This robot needs to have a ... -
Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery
(The American Society of Mechanical Engineers (ASME), 2021)Retinal microsurgery requires the precise manipulation of delicate tissue in the interior of the eye. Smart surgical instruments with dexterous tip and force sensing capabilities can permit surgeons to perform more flexible ... -
Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact
(The American Society of Mechanical Engineers (ASME), 2021)We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful ... -
Stiffness Evaluation of an Adsorption Robot for Large-Scale Structural Parts Processing
(The American Society of Mechanical Engineers (ASME), 2021)Efficient and economical processing of large-scale structural parts is in increasing need and is also a challenging issue. In this paper, an adsorption machining robot for processing of large-scale structural parts is ... -
Topological Reconfiguration Planning for a Variable Topology Truss
(The American Society of Mechanical Engineers (ASME), 2021)This paper introduces a new class of self-reconfigurable robot: the variable topology truss (VTT), which is an extension of an existing class of robots: the variable geometry truss (VGT). Variable topology trusses have the ... -
Neural Network-Based Transfer Learning of Manipulator Inverse Displacement Analysis
(The American Society of Mechanical Engineers (ASME), 2021)In this paper, the feasibility of applying transfer learning for modeling robot manipulators is examined. A neural network-based transfer learning approach of inverse displacement analysis of robot manipulators is studied. ... -
Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism
(The American Society of Mechanical Engineers (ASME), 2021)In this article, we present the design of a novel ankle rehabilitation robot (ARR), called the Flex-ARR, that employs a compliant parallel kinematic mechanism (PKM) with decoupled degrees-of-freedom. While multiple ARRs ... -
An Optimal Design of a Flexible Piping Inspection Robot
(The American Society of Mechanical Engineers (ASME), 2021)This study presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired piping inspection robot that moves like a caterpillar was designed and developed at LS2N, France. By the addition ... -
Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents a systematic constraint-based analysis of the performance attributes of eight parallel kinematic articulated wrist mechanisms from the existing literature. These performance attributes include the number, ...