Journal of Mechanisms and Robotics: Recent submissions
Now showing items 801-820 of 1771
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Design, Control, and Pilot Study of a Lightweight and Modular Robotic Exoskeleton for Walking Assistance After Spinal Cord Injury
(The American Society of Mechanical Engineers (ASME), 2020)Walking rehabilitation using exoskeletons is of high importance to maximize independence and improve the general well-being of spinal cord injured subjects. We present the design and control of a lightweight and modular ... -
Design and Analysis of a Smart Rehabilitation Walker With Passive Pelvic Mechanism
(The American Society of Mechanical Engineers (ASME), 2020)In response to the ever-increasing demand of community-based rehabilitation, a novel smart rehab walker iReGo is designed to facilitate the lower limb rehabilitation training based on motion intention recognition. The ... -
Kinematic Geometry Description of a Line With Four Positions and Its Application in Dimension Synthesis of Spatial Linkage
(The American Society of Mechanical Engineers (ASME), 2020)In the dimension synthesis of the spatial linkages, the geometric characteristics of floating links in mechanisms reveal the geometric relationship between the motion task and the dimensions of the mechanisms. In order to ... -
Large-Deflection Analysis of General Beams in Contact-Aided Compliant Mechanisms Using Chained Pseudo-Rigid-Body Model
(The American Society of Mechanical Engineers (ASME), 2020)The nonlinear analysis and design of contact-aided compliant mechanisms (CCMs) are challenging. This paper presents a nonlinear method for analyzing the deformation of general beams that contact rigid surfaces in CCMs. The ... -
Calculating the Fold Angles of Any Vertex Roof Using a Spherical Image Technique
(The American Society of Mechanical Engineers (ASME), 2020)The shape of a vertex roof is defined by the geometry of its constituent flat facets and the relative angle of folding across them. The spherical image of the roof, originally from Gauss, expresses these properties ... -
Design and Experimental Validation of Two Cam-Based Force Regulation Mechanisms
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents the design and experimental validation of two force regulation mechanisms (FRMs) containing a translational cam and a rotational cam, respectively. With the friction-considered profile identification ... -
On the Optimal Resolution of Inverse Kinematics for Redundant Manipulators Using a Topological Analysis
(The American Society of Mechanical Engineers (ASME), 2020)The redundancy resolution schemes based on the optimization of an integral performance index are investigated from the topological point of view. The topological notions of self-motion manifold, C-path-homotopy and extended ... -
Design and Development of the Cassino Biped Locomotor
(The American Society of Mechanical Engineers (ASME), 2020)In this work, the Cassino Biped Locomotor, a biped walking robot, is presented as the leg design by using reduced parallel mechanisms. The proposed biped locomotor consists of two identical tripod leg mechanisms with a ... -
A Methodology for Determining Static Mode Shapes of a Compliant Mechanism Using the Pseudo-Rigid-Body Model Concept and the Degrees-Of-Freedom Analysis
(The American Society of Mechanical Engineers (ASME), 2020)Traditionally, the deflected configuration of compliant segments is determined through rigorous mathematical analysis using Newtonian mechanics. Application of this approach in evaluating the deformed configuration of ... -
An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots
(The American Society of Mechanical Engineers (ASME), 2020)Parallel mechanisms are increasingly being used as modular subsystem units in various robots and man-machine interfaces for their superior stiffness, payload-to-weight ratio, and dynamic properties. This leads to series-parallel ... -
On the Geometry of Stiffness and Compliance Under Concatenation
(The American Society of Mechanical Engineers (ASME), 2020)Eigentwists and eigenwrenches capture the stationary stiffness behavior of compliant mechanisms and can be related to a mechanism’s primary kinematic behavior. The nature of concatenation of multiple mechanism building ... -
A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics
(The American Society of Mechanical Engineers (ASME), 2020)According to the topological design theory and the method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a three-degrees-of-freedom (3-DOF) translational PM ... -
Reconfigurable Logic Gates Based on Programable Multistable Mechanisms
(The American Society of Mechanical Engineers (ASME), 2020)Binary logic gates are building blocks of computing machines, in particular, electronic computers. One variant is the programable logic gate, also known as the reconfigurable logic gate, in which the logical function ... -
A Bar and Hinge Model for Simulating Bistability in Origami Structures With Compliant Creases
(The American Society of Mechanical Engineers (ASME), 2020)Active origami structures usually have creases made with soft and compliant plates because it is difficult to fabricate real hinges and actuate them. However, most conventional origami modeling techniques fail to capture ... -
Kinematics and Constraints of the Exechon Robot Accounting Offsets Due to Errors in the Base Joint Axes
(The American Society of Mechanical Engineers (ASME), 2020)An Exechon robot with offsets between the axes of the joints that connect the legs to the fixed platform is analyzed for the first time. Ideally these axes intersect constituting two universal and one spherical joints. The ... -
Evaluation and Modeling of the Friction in Robotic Joints Considering Thermal Effects
(The American Society of Mechanical Engineers (ASME), 2020)The paper presents a second-order friction model for the joints of industrial robot manipulators that takes into account temperature effects. A solution based on a polynomial description of the friction is proposed. The ... -
A Cable-Driven Parallel Robot With An Embedded Tilt-Roll Wrist
(The American Society of Mechanical Engineers (ASME), 2020)This paper addresses the optimum design, configuration, and workspace analysis of a cable-driven parallel robot (CDPR) with an embedded tilt-roll wrist. The manipulator consists in a tilt-roll wrist mounted on the moving ... -
Rigidly Foldable Thick Origami Using Designed-Offset Linkages
(The American Society of Mechanical Engineers (ASME), 2020)We present new families of thick origami mechanisms that achieve rigid foldability and parallel stacking of panels in the flat-folded state using linkages for some or all of the hinges between panels. A degree-four vertex ... -
Synthesizing Mechanical Chains for Morphing Between Spatial Curves
(The American Society of Mechanical Engineers (ASME), 2020)This paper extends the kinematic synthesis methodology for designing a chain of bodies to match a set of arbitrary curves to the spatial case. The methodology initiates with an arbitrary set of spatial curves, and concludes ... -
Design of Regular One-Dimensional, Two-Dimensional, and Three-Dimensional Linkage-Based Tessellations
(The American Society of Mechanical Engineers (ASME), 2020)Linkage origami is one effective approach for addressing stiffness and accommodating panels of finite size in origami models and tessellations. However, successfully implementing linkage origami in tessellations can be ...