Journal of Mechanisms and Robotics: Recent submissions
Now showing items 741-760 of 1771
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Shape Optimization Framework for the Path of the Primary Compliance Vector in Compliant Mechanisms
(The American Society of Mechanical Engineers (ASME), 2020)The primary compliance vector (PCV) captures the dominant kinematic behavior of a compliant mechanism. Its trajectory describes large deformation mechanism behavior and can be integrated in an optimization objective in ... -
Workspace Augmentation for the Large-Scale Spherical Honeycombs Perfusion Using a Novel 5DOF Reconfigurable Manipulator
(The American Society of Mechanical Engineers (ASME), 2020)The volume of workspace is a significant kinematic index of parallel manipulator in some applications of engineering. However, the workspace degradation of the manipulator in extreme position is a demanding issue, which ... -
Nonlinear Oscillator-Based Gait Generation for a Novel Aero-Terrestrial Bioinspired Robotic System
(The American Society of Mechanical Engineers (ASME), 2020)This paper focuses on the design of a novel aero-terrestrial robotic system based on the morphology of the Hymenoptera order insects and, particularly, on a strategy based on nonlinear oscillators for the coordination of ... -
Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design
(The American Society of Mechanical Engineers (ASME), 2020)This article investigates the feasibility of replacing metal robot links by wooden bodies for eco-sustainable design’s purpose. Wood is a material with low environmental impact and a good mass-to-stiffness ratio. However, ... -
Simulation and Analysis of Microspines Interlocking Behavior on Rocky Surfaces: An In-Depth Study of the Isolated Spine
(The American Society of Mechanical Engineers (ASME), 2020)Microspine grippers address a large variety of possible applications, especially in field robotics and manipulation in extreme environments. Predicting and modeling the gripper behavior remains a major challenge to this ... -
Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism
(The American Society of Mechanical Engineers (ASME), 2020)Elastic elements are commonly adopted to realize underactuation in the design of human-friendly prosthetic hands. The stiffness of these elastic elements, which is a key factor affecting the grasp performance of the ... -
A Tunable Variable-Torque Compliant Hinge Using Open-Section Shells
(The American Society of Mechanical Engineers (ASME), 2020)This paper is concerned with a compliant-hinge mechanism that can provide a wide range of torque-angle profiles. The mechanism consists of thin-walled open-section shells that are subjected to combined twisting and bending. ... -
Supernumerary Robotic Limbs to Assist Human Walking With Load Carriage
(The American Society of Mechanical Engineers (ASME), 2020)Walking with load carriage is a common requirement for individuals in many situations. Legged exoskeletons can transfer the load weight to the ground with rigid-leg structures, thus reducing the load weight borne by the ... -
Overview and Kinetostatic Characterization of Compliant Shell Mechanism Building Blocks
(The American Society of Mechanical Engineers (ASME), 2020)Compliant shell mechanisms utilize thin-walled structures to achieve motion and force generation. Shell mechanisms, because of their thin-walled nature and spatial geometry, are building blocks for spatial mechanism ... -
Forward Kinematic Analysis of Kinematically Redundant Hybrid Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2020)This paper focuses on the forward kinematic analysis of (6 + 3)-degree-of-freedom kinematically redundant hybrid parallel robots. Because all of the singularities are avoidable, the robot can cover a very large orientational ... -
Rotatability of the Floating Link on Multi-Loop Planar Linkages
(The American Society of Mechanical Engineers (ASME), 2020)This paper proposes a method to deal with the orientation uncertainty problem affected by joint clearances. To solve this problem, it is necessary to establish the theory of mobility of the floating link of multi-loop ... -
Erratum: “A Continuum Model for Fiber-Reinforced Soft Robot Actuators” [ASME J. Mech. Rob., 2018, 10(2), p. 024501; DOI: 10.1115/1.4039101]
(The American Society of Mechanical Engineers (ASME), 2020)A typographical error first appearing in Eq. (A8) was cut and pasted into Eqs. (A10) and (A14). This error appears only in these equations as written in Appendix A.3. It does not affect the code used, results reported, or ... -
Design of a Continuum Mechanism That Matches the Movement of an Eight-Bar Linkage
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents a design methodology for mechanisms consisting of a single continuous structure, continuum mechanisms, that blends the kinematic synthesis of rigid-body mechanisms with topology optimization for compliant ... -
A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming
(The American Society of Mechanical Engineers (ASME), 2020)In this paper, we present a novel compliant robotic gripper with three variable stiffness fingers. While the shape morphing of the fingers is cable-driven, the stiffness variation is enabled by layer jamming. The inherent ... -
Constant Force Spring System With a Spiral
(The American Society of Mechanical Engineers (ASME), 2020)The paper is devoted to the theory of a mechanism called constant force spring system. The system consists of a linear helical spring, a spiral drum, a take-up pulley, and two cords. The spiral drum and the take-up pulley ... -
Kinematically Identical Manipulators Derivation for the 2-RPU + UPR Parallel Manipulator and Their Constraint Performance Comparison
(The American Society of Mechanical Engineers (ASME), 2020)This paper derives the kinematically identical manipulators (KIMs) of the 2-RPU + UPR parallel manipulators (PMs) and performs a comparison study among them. Based on the principle for deriving KIMs, ten non-overconstrained ... -
Computational Design and Analysis of a Magic Snake
(The American Society of Mechanical Engineers (ASME), 2020)The Magic Snake (Rubik’s Snake) is a toy that was invented decades ago. It draws much less attention than Rubik’s Cube, which was invented by the same professor, Erno Rubik. The number of configurations of a Magic Snake, ... -
Special Issue: Selected Papers From IDETC 2019
(The American Society of Mechanical Engineers (ASME), 2020)This special issue of the ASME Journal of Mechanisms and Robotics is a compendium of 15 of the best papers submitted and presented at the 43rd ASME Mechanisms and Robotics Conference during the 2020 International Design ... -
Dead Center Identification of Two-Degrees-of-Freedom Planar Parallel Manipulator Using Graph Theory and Transmission Angle
(The American Society of Mechanical Engineers (ASME), 2020)Parallel manipulators are widely applied for their advantages of high stiffness, load-bearing, operation speed, and precision positioning capabilities, which are required in many industrial applications. However, dead ... -
A Lower Limb Exoskeleton Recycling Energy From Knee and Ankle Joints to Assist Push-Off
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents the design and preliminary evaluation of a quasi-passive lower limb exoskeleton for walking efficiency improvements. The exoskeleton recycles the negative work performed by the knee joint in late swing ...