Journal of Mechanisms and Robotics: Recent submissions
Now showing items 721-740 of 1771
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Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task
(The American Society of Mechanical Engineers (ASME), 2021)A passive aligning strategy for the assembly task of a ribbon cable is presented using a sliding surface gripper. Once the gripper grasps the ribbon cable, the sliding surface of the gripper pulls the cable in one direction, ... -
An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents the design, analysis, and development of an anthropomorphic robotic hand coined MCR-hand II. This hand takes the advantages of both the tendon-driven and linkage-driven systems, leading to a compact ... -
Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation
(The American Society of Mechanical Engineers (ASME), 2021)Box delivery is a complicated task and it is challenging to predict the box delivery motion associated with the box weight, delivering speed, and location. This paper presents a single task-based inverse dynamics optimization ... -
Clearance-Induced Orientation Uncertainty of Spherical Linkages
(The American Society of Mechanical Engineers (ASME), 2021)This paper proposes a kinematic model to evaluate the orientation uncertainty range of spherical linkages caused by the joint clearances. Based on the concepts of imaginary clearance link, spherical N-bar rotatability laws, ... -
Two Actuation Methods for a Complete Morphing System Composed of a VGTM and a Compliant Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2021)In this paper, a complete morphing system consisting of a variable geometry truss manipulator (VGTM) is presented that is fully covered by a flexible panel skin. Two approaches are studied for the morphing control. The ... -
Design, Kinematics, and Application of Axially and Radially Expandable Modular Soft Pneumatic Actuators
(The American Society of Mechanical Engineers (ASME), 2021)Recently, soft pneumatic actuators (SPAs) have drawn increasing attention due to their ease of fabrication, high customizability, and intrinsic softness. Inspired by modular design, two kinds of SPAs, including an axial ... -
Local and Trajectory-Based Indexes for Task-Related Energetic Performance Optimization of Robotic Manipulators
(The American Society of Mechanical Engineers (ASME), 2021)In this paper, a task-dependent energetic analysis of robotic manipulators is presented. The proposed approach includes a novel performance index, which relates the energy consumption of a robotic manipulator to its inertia ... -
Geometric Constraint-Based Reconfiguration and Self-Motions of a Four-CRU Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2021)Over the past few years, the concept of multi-directional three-dimensional (3D) printing has been introduced to print complex shapes and overhang geometry. This technique requires the nozzle to constantly change orientation ... -
Inertial Measurement Unit-Based Optimization Control of a Soft Exosuit for Hip Extension and Flexion Assistance
(The American Society of Mechanical Engineers (ASME), 2021)The optimization of the assistive force of a soft exosuit is crucial to the assistive effect. In this paper, an inertial measurement unit (IMU)-based optimization controller was designed to provide effective hip extension ... -
Identification of Non-Transversal Motion Bifurcations of Linkages
(The American Society of Mechanical Engineers (ASME), 2021)The local analysis is an established approach to the study of singularities and mobility of linkages. The key result of such analyses is a local picture of the finite motion through a configuration. This reveals the finite ... -
Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control
(The American Society of Mechanical Engineers (ASME), 2021)This paper attempts to address the quandary of flexible-joint humanoid balancing performance augmentation, via the introduction of the Full-State Feedback Variable Impedance Control (FSFVIC), and Model-Free Compliant ... -
Classification of a 3-RER Parallel Manipulator Based on the Type and Number of Operation Modes
(The American Society of Mechanical Engineers (ASME), 2021)The type/number of operation modes of a parallel manipulator (PM) may vary with the link parameters of the PM. This paper presents a systematic classification of a 3-RER PM based on the type/number of operation modes. Here, ... -
Enhancing Payload Capacity With Dual-Arm Manipulation and Adaptable Mechanical Intelligence
(The American Society of Mechanical Engineers (ASME), 2021)Individual manipulators are limited by their vertical total load capacity. This places a fundamental limit on the weight of loads that a single manipulator can move. Cooperative manipulation with two arms has the potential ... -
Development of a Multi-Cable-Driven Continuum Robot Controlled by Parallel Platforms
(The American Society of Mechanical Engineers (ASME), 2021)Cable-driven continuum robots exhibit excellent capabilities in the unstructured environment due to their inherent compliance and dexterity. To improve the reliability and load capacity of continuum robots, increasing the ... -
Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization
(The American Society of Mechanical Engineers (ASME), 2021)This paper provides an improvement of classic Montana's contact kinematics equations considering non-orthogonal object parameterizations. In Montana's model, the reference frame used to define the relative motion between ... -
A Novel Origami-Inspired Delta Mechanism With Flat Parallelogram Joints
(The American Society of Mechanical Engineers (ASME), 2021)In robotics, the origami-based design methodology uses straightforward fabrication and assembly processes to create small-scale parallel mechanisms. Delta mechanisms are among the well-known parallel mechanisms used mostly ... -
Design and Analysis of a Multisegment Shape Morphing Mechanism
(The American Society of Mechanical Engineers (ASME), 2021)This article presents a novel design of a multisegment shape morphing mechanism that combines a lockable reconfigurable variable geometry truss manipulator (VGTM) with an active parallel compliant mechanism. The structure ... -
Design of a Lightweight Single-Actuator Multi-Grasp Prosthetic Hand With Force Magnification
(The American Society of Mechanical Engineers (ASME), 2020)Restoring human grasp functions by prosthesis is a long-standing challenge in robotics research. Aiming at prosthetic applications, this paper presents a novel anthropomorphic multi-grasp hand design. The hand is driven ... -
Stable Grasp Control With a Robotic Exoskeleton Glove
(The American Society of Mechanical Engineers (ASME), 2020)An exoskeleton robotic glove intended for patients who have suffered paralysis of the hand due to stroke or other factors has been developed and integrated. The robotic glove has the potential to aid patients with grasping ... -
Call for Papers: Focused Section on Mobile Robots and Unmanned Ground Vehicles
(The American Society of Mechanical Engineers (ASME), 2020)Timeline: The deadline for submissions is January 15, 2021. The review process will be held on January–May 2021. Final manuscripts are due June 1, 2021, for publication online (starting in June) and print publication in ...