Journal of Mechanisms and Robotics: Recent submissions
Now showing items 701-720 of 1771
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Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms
(The American Society of Mechanical Engineers (ASME), 2021)In this article, we present a continuously tunable stiffness arm for safe physical human–robot interactions. Compliant joints and compliant links are two typical solutions to address safety issues for physical human–robot ... -
Modeling and Design Exploration of a Tensegrity-Based Twisting Wing
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents a modeling and design exploration study of a novel twisting wing whose motion is enabled by a tensegrity mechanism. The aerodynamic characteristics of the twisting wing, which does not require control ... -
RATS: A Robotic Arm Training System Designed for Rats
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents a novel robotic system to characterize and retrain reaching in rats. This robot is intended to be a research platform for the rehabilitation of forelimb movements in rats. In this paper, we focus on the ... -
A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations
(The American Society of Mechanical Engineers (ASME), 2021)Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. ... -
Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot
(The American Society of Mechanical Engineers (ASME), 2021)Robots are commonly used for automated welding in many industries such as automotive manufacturing. The complexity and time required for programming present an obstacle in using robotic automation in welding or other tasks ... -
A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE(3) and Its Subspaces
(The American Society of Mechanical Engineers (ASME), 2021)This contribution presents a screw theory-based method for determining the mobility of fully parallel platforms. The method is based on the application of three stages. The first stage involves the application of the ... -
A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission
(The American Society of Mechanical Engineers (ASME), 2021)An extensible continuum manipulator (ECM) has specific advantages over its nonextensible counterparts. For instance, in certain applications, such as minimally invasive surgery or pipe inspection, the base motion might be ... -
A Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities
(The American Society of Mechanical Engineers (ASME), 2021)This article reports a method for regulating the internal forces during in-hand manipulation of an unknown shaped object with soft robotic fingers. The internal forces ensure that the object does not move between the robotic ... -
Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow
(The American Society of Mechanical Engineers (ASME), 2021)The use of conductive fabrics (CFs) in the design of wearables for joint sensing has recently received much interest in a wide range of applications such as robotics, rehabilitation, personal wellness, and sports. However, ... -
Structure Synthesis of a Class of Parallel Manipulators With Fully Decoupled Projective Motion
(The American Society of Mechanical Engineers (ASME), 2021)This paper describes the structure synthesis of a special class of parallel manipulators with fully decoupled motion, that is, a one-to-one correspondence between the instantaneous motion space of the end-effector and the ... -
Static Balancing of Four-Bar Compliant Mechanisms With Torsion Springs by Exerting Negative Stiffness Using Linear Spring At the Instant Center of Rotation
(The American Society of Mechanical Engineers (ASME), 2021)A design approach for the quasi-static balancing of four-bar linkages with torsion springs is proposed. Such an approach is useful in the design of quasi-statically balanced fully compliant mechanisms by tuning the stiffness ... -
A General Method for Constructing Planar Cognate Mechanisms
(The American Society of Mechanical Engineers (ASME), 2021)Cognate linkages are mechanisms that share the same motion, a property that can be useful in mechanical design. This article treats planar curve cognates, that is, planar mechanisms with rotational joints whose coupler ... -
Analysis of the Rigid Motion of a Conical Developable Mechanism
(The American Society of Mechanical Engineers (ASME), 2021)We demonstrate analytically that it is possible to construct a developable mechanism on a cone that has rigid motion. We solve for the paths of rigid motion and analyze the properties of this motion. In particular, we ... -
Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints
(The American Society of Mechanical Engineers (ASME), 2021)This paper deals with the construction and reconfiguration analysis of a spatial mechanism composed of four circular translation (G) joints. Two links connected by a G joint, which can be in different forms such as a planar ... -
Design of a Single-Degree-of-Freedom Immersive Rehabilitation Device for Clustered Upper-Limb Motion
(The American Society of Mechanical Engineers (ASME), 2021)Mechanical devices such as robots are widely adopted for limb rehabilitation. Due to the variety of human body parameters, the rehabilitation motion for different patients usually has its individual pattern; hence, we adopt ... -
Stability Region-Based Analysis of Walking and Push Recovery Control
(The American Society of Mechanical Engineers (ASME), 2021)To achieve walking and push recovery successfully, a biped robot must be able to determine if it can maintain its current contact configuration or transition into another one without falling. In this study, the ability of ... -
Reprogrammable Kinematic Branches in Tessellated Origami Structures
(The American Society of Mechanical Engineers (ASME), 2021)We analyze the folding kinematics of a recently proposed origami-based tessellated structure called the Morph pattern, using thin, rigid panel assumptions. We discuss the geometry of the Morph unit cell that can exist in ... -
Deployable Convex Generalized Cylindrical Surfaces Using Torsional Joints
(The American Society of Mechanical Engineers (ASME), 2021)The ability to deploy a planar surface to a desired convex profile with a simple actuation can enhance foldable or morphing airfoils, deployable antennae and reflectors, and other applications where a specific profile ... -
Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms
(The American Society of Mechanical Engineers (ASME), 2021)Cylindrical developable mechanisms are devices that conform to and emerge from a cylindrical surface. These mechanisms can be formed or cut from the cylinder wall itself. This paper presents a study on adapting traditional ... -
Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator
(The American Society of Mechanical Engineers (ASME), 2021)Antagonistically actuated variable stiffness actuators (VSAs) take inspiration from biological muscle structures to control both the stiffness and positioning of a joint. This paper presents the design of an elastic mechanism ...