Journal of Mechanisms and Robotics: Recent submissions
Now showing items 761-780 of 1771
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Mitigating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots
(The American Society of Mechanical Engineers (ASME), 2020)Impact forces are a destructive, yet common occurrence in legged locomotion. Every step produces a collision when the leg’s inertia stops as a result of ground contact. This results in peak forces and high-frequency ... -
Sensorless In-Hand Manipulation by An Underactuated Robot Hand
(The American Society of Mechanical Engineers (ASME), 2020)The limited dexterity that existing hand prostheses provide to users contrasts with the manipulation abilities exhibited by state-of-the-art robot hands. This paper presents an underactuated robot hand with in-hand ... -
Optimizing the Torque Distribution of a Redundantly Actuated Parallel Robot to Study the Temporomandibular Reaction Forces During Food Chewing
(The American Society of Mechanical Engineers (ASME), 2020)Inverse dynamics solution of redundantly actuated parallel robots (RAPRs) requires redundancy resolution methods. In this paper, the Lagrange’s equations of the second kind are used to derive governing equations of a chewing ... -
Mechanical Design and Performance Analysis of a Novel Parallel Robot for Ankle Rehabilitation
(The American Society of Mechanical Engineers (ASME), 2020)As the population ages, increasingly more individuals experience ankle disabilities caused by stroke and cerebral palsy. Studies on parallel robots for ankle rehabilitation have been conducted under this circumstance. This ... -
Locomotion of a Compliant Mechanism With Nonholonomic Constraints
(The American Society of Mechanical Engineers (ASME), 2020)Compliant mechanisms have been studied extensively as an alternative to traditional rigid body design with advantages like part number reduction, compliance, and multistable configurations. Most of the past research on ... -
Workspace Analysis and Optimal Design of a Translational Cable-Driven Parallel Robot With Passive Springs
(The American Society of Mechanical Engineers (ASME), 2020)Cable-driven parallel robots (CDPRs) have great prospects for high-speed applications because of their nature of low inertia and good dynamics. Existing high-speed CDPRs mainly adopt redundant cables to keep positive cable ... -
Modal Control for Active Vibration Damping of Cable-Driven Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2020)Cable-driven parallel robots are well suited for applications that require a very large workspace. Thanks to their lightweight moving parts, they can achieve high dynamics while remaining pretty safe for nearby human ... -
Shape-Morphing Using Bistable Triangles With Dwell-Enhanced Stability
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents a new design concept for a morphing triangle-shaped compliant mechanism. The novel design is a bistable mechanism that has one changeable side. These morphing triangles may be arrayed to create ... -
Dynamic Modeling of the Cable-Driven Continuum Robots in Hybrid Position-Force Actuation Mode
(The American Society of Mechanical Engineers (ASME), 2020)Dynamic models of the cable-driven continuum robots are commonly employed for those robots that are actuated by the cables’ forces. In this paper, a dynamic model is proposed for the cable-driven continuum robots actuated ... -
Analytical Reason for Smaller Lateral Sway in Angled-Plane Scissor Linkage
(The American Society of Mechanical Engineers (ASME), 2020)Scissor linkages are widely used with scissor links arranged in two parallel planes. When small misalignment of revolute joint axes are permissible, the linkage can undergo lateral sway. This paper, using rigid-body ... -
Theoretical and Experimental Study and Design Method of Blade Height of a Rotational-Flow Suction Unit in a Wall-Climbing Robot
(The American Society of Mechanical Engineers (ASME), 2020)A wall-climbing robot that uses a rotational-flow suction unit to be non-contact-absorbed onto walls can climb rough walls and overstep obstacles. In the rotational-flow suction unit, the air driven by the blades rotates ... -
Passive Hydraulic Training Simulator for Upper Arm Spasticity
(The American Society of Mechanical Engineers (ASME), 2020)Spasticity is a hypertonic muscle behavior commonly observed in patients with multiple sclerosis, cerebral palsy, stroke, etc. Clinical assessment for spasticity is done through passive stretch evaluations of various joints ... -
A C-Legged Monopedal Robot and Its Transition From Multiple Locomotion Modes
(The American Society of Mechanical Engineers (ASME), 2020)This paper introduces a minimalistic design of a monopedal robot (monobot) with C-shaped legs which can achieve multiple locomotion modes (multi-mode) such as walking, leaping, as well as backward and forward flipping. The ... -
Modeling and Analysis of a Planar Soft Panel Continuum Mechanism
(The American Society of Mechanical Engineers (ASME), 2020)Continuum mechanisms have drawn wide attention to scholars due to their salient advantages including compliance and dexterity. In this paper, a planar continuum mechanism made of soft panels is proposed. This mechanism has ... -
A Vision-Based Referencing Procedure for Cable-Driven Parallel Manipulators
(The American Society of Mechanical Engineers (ASME), 2020)In the last three decades, cable-driven parallel robots (CDPRs) have captured a growing attention in the robotics field. Indeed, they promise to bring automation in fields where it is not affirmed yet, granting ease of ... -
Analysis and Control of an Actuation-Redundant Parallel Mechanism Requiring Synchronization
(The American Society of Mechanical Engineers (ASME), 2020)Presented in this paper is a method for analysis and control of an actuation-redundant parallel mechanism requiring synchronization. The said mechanism is made up of two branches that are connected to drive a common ... -
Application of Support Vector Machine-Based Classification Extremum Method in Flexible Mechanism
(The American Society of Mechanical Engineers (ASME), 2020)The computational efficiencies of traditional reliability methods, such as Monte Carlo (MC), are extremely low. There are also some shortcomings for surrogate model (SM)-based methods, e.g., the sample points of the quadratic ... -
A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force
(The American Society of Mechanical Engineers (ASME), 2020)The shape prediction of tendon-driven continuum manipulators is a challenging problem due to the effect of inner friction and external force. Many researchers use actuation displacement or actuation force as model input ... -
Modeling Backlash-Like Hysteresis of Tendon Sheath Mechanism-Pair
(The American Society of Mechanical Engineers (ASME), 2020)Tendon sheath mechanism (TSM) is an effective power transmission system to access remote locations through tortuous channels, and it is widely used in endoscopic surgical robots. However, owing to deformation of TSM during ... -
Screw Theory-Based Motion/Force Transmissibility Analysis of High-Speed Parallel Robots With Articulated Platforms
(The American Society of Mechanical Engineers (ASME), 2020)Motion/force transmissibility is an essential property reflecting the kinematic performance of parallel robots. Research on this performance of the single-platform parallel robots (SPPRs) has long been concerned and studied. ...