Journal of Mechanisms and Robotics: Recent submissions
Now showing items 781-800 of 1771
-
Ground Mobile Bricard Mechanism
(The American Society of Mechanical Engineers (ASME), 2020)A novel application of the well-known single degree-of-freedom (DOF) Bricard mechanism is proposed in this paper. By optimizing the links’ shape and installing motors reasonably, we put forward a ground mobile Bricard ... -
A Dual-Vector Method to Derive the Equivalent Screw of Two Successive Finite Screw Displacements for Line Segments
(The American Society of Mechanical Engineers (ASME), 2020)For finite rigid body motion, every two successive screw displacements can be represented by one equivalent screw displacement. However, such phenomenon should not be considered naturally to be valid for incompletely ... -
Chasles' Motion Sphere—A Useful Tool to Visually Express the Motion Characteristics Over the Workspace of Robotic Mechanisms
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents a useful concept/tool, i.e., Chasles' motion sphere (CMSphere), that is able to visually express the motion characteristics over the workspace and capable of investigating the local motion performance ... -
Dynamic Point-To-Point Trajectory Planning for Three Degrees-of-Freedom Cable-Suspended Parallel Robots Using Rapidly Exploring Random Tree Search
(The American Society of Mechanical Engineers (ASME), 2020)This paper proposes a dynamic point-to-point trajectory planning technique for three degrees-of-freedom (DOFs) cable-suspended parallel robots. The proposed technique is capable of generating feasible multiple-swing ... -
Optimization of the Rotational Asymmetric Parallel Mechanism for Hip Rehabilitation With Force Transmission Factors
(The American Society of Mechanical Engineers (ASME), 2020)An asymmetric three-degree-of-freedom parallel mechanism is adopted in rehabilitation robots for assisting patients suffering from stroke or trauma in the hip. It is necessary to keep its kinematic singularity out of the ... -
An Origami-Based Medical Support System to Mitigate Flexible Shaft Buckling
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents the development of an origami-inspired support system (the OriGuide) that enables the insertion of flexible instruments using medical robots. Varying parameters of a triangulated cylindrical origami ... -
Workspace-Based Design of Equivalent Compression Spring Legs for a 3-DoF Translational Tensegrity Robot
(The American Society of Mechanical Engineers (ASME), 2020)Prior work has led to the development of a three-degree-of-freedom translational tensegrity robot. Due to inherent and unavoidable collisions between the struts of the tensegrity system that is used as the basis of the ... -
An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents the design, dynamic modeling, and integration of a single degree of freedom (DOF) robotic leg mechanism intended for tailed quadruped locomotion. The design employs a lightweight six-bar linkage that ... -
Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks
(The American Society of Mechanical Engineers (ASME), 2020)We present a new design method that is tailored for designing a physical interactive robotic arm for overground physical interaction. Designing such robotic arms present various unique requirements that differ from existing ... -
Analytical Study of the Snap-Through and Bistability of Beams With Arbitrarily Initial Shape
(The American Society of Mechanical Engineers (ASME), 2020)We derive the snap-through solution and the governing snapping force equations for an arbitrarily preshaped beam deflected under a mid-length lateral point force. The exact solution is obtained based on the classical theory ... -
A Novel Style Design of a Permanent-Magnetic Adsorption Mechanism for a Wall-Climbing Robot
(The American Society of Mechanical Engineers (ASME), 2020)Magnetic adsorption mechanisms are widely used for wall-climbing robots to manipulate a locomotive on the surface of a magnetic conducting metal. However, the reported magnetic adsorption mechanisms are subject to the ... -
Design of Track-Type Climbing Robots Using Dry Adhesives and Compliant Suspension for Scalable Payloads
(The American Society of Mechanical Engineers (ASME), 2020)Climbing robots offer advanced motion capabilities to perform inspection, manufacturing, or rescue tasks. Climbing requires the robot to generate adhering forces with the climbing surface. Dry adhesives present a category ... -
Improved Model for Conical Dielectric Elastomer Actuators With Fewer Electrical Connections
(The American Society of Mechanical Engineers (ASME), 2020)Dielectric elastomers (DEs) exhibit remarkable properties that make them stand out among other electroactive polymers. Various types of actuators based on DEs have been used in applications that include artificial muscles, ... -
Needle-Size Bending Actuators Based on Controlled Nitinol Curvatures and Elastic Structures
(The American Society of Mechanical Engineers (ASME), 2020)Surgical navigation of small lumens during surgery is a challenging task, requiring expert knowledge and dexterity. The challenge pertains to the manipulation of the distal tip (inside the patient) from the proximal end ... -
Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents a design concept for gravity compensation of planar articulated robotic arms using a series of gear-slider mechanisms with springs. The spring-attached gear-slider mechanism has one degree-of-freedom ... -
Synthesis of Planar Compliances With Mechanisms Having Six Compliant Components: Geometric Approach
(The American Society of Mechanical Engineers (ASME), 2020)In this paper, the synthesis of any planar compliance with a six-component compliant mechanism is addressed. The mechanisms studied are either serial mechanisms with six elastic joints or parallel mechanisms with six ... -
A Miniature Robotic-Assisted Tool for Large Area Endomicroscopy Scanning
(The American Society of Mechanical Engineers (ASME), 2020)Recent developments in probe-based optical imaging tools such as confocal endomicroscopy have been demonstrated to be powerful techniques that can provide high-resolution in vivo morphological images at cellular and ... -
Nonlinear Stiffness Analysis of Spring-Loaded Inverted Slider Crank Mechanisms With a Unified Model
(The American Society of Mechanical Engineers (ASME), 2020)A mechanism with lumped-compliance can be constructed by mounting springs at joints of an inverted slider crank mechanism. Different mounting schemes bring change in the stiffness performance. In this paper, a unified ... -
Origami-Layer-Jamming Deployable Surgical Retractor With Variable Stiffness and Tactile Sensing
(The American Society of Mechanical Engineers (ASME), 2020)Origami-based flexible, compliant, and bio-inspired robots are believed to permit a range of medical applications within confined environments. In this article, we experimentally demonstrated an origami-inspired deployable ... -
Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2020)Cable-driven parallel robots (CDPRs) hold numerous advantages over conventional parallel robots in terms of high speed and large workspace. Cable-driven parallel robots whose workspace can be further increased by the ...