Journal of Mechanisms and Robotics: Recent submissions
Now showing items 821-840 of 1771
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Deflection Maps of Planar Elastic Catenary Cable-Driven Robots
(The American Society of Mechanical Engineers (ASME), 2020)In this paper, the cable tension and platform deflection of cable-driven robots are studied. The significance of cable density, elasticity, and cross-sectional area; platform mass, radius, and center of mass; the external ... -
Autonomous Door Opening With the Interacting-BoomCopter Unmanned Aerial Vehicle
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents the design of a light-weight, compliant end-effector and an image processing strategy that together enable the Interacting-BoomCopter (I-BC) unmanned aerial vehicle (UAV) to perform an autonomous ... -
Design, Analysis, and Integration of a New Two-Degree-of-Freedom Articulated Multi-Link Robotic Tail Mechanism
(The American Society of Mechanical Engineers (ASME), 2020)Based on observations from nature, tails are believed to help animals achieve highly agile motions. Traditional single-link robotic tails serve as a good simplification for both modeling and implementation purposes. However, ... -
A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study
(The American Society of Mechanical Engineers (ASME), 2020)Continuum robots have the potential to form an effective interface between the patient and surgeon in minimally invasive procedures. Magnetic actuation has the potential for accurate catheter steering, reducing tissue ... -
A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism
(The American Society of Mechanical Engineers (ASME), 2020)Mechanical components in a robotic system were used to provide body structure and mechanism to achieve physical motions following the commands from electronic controller. This kind of robotic system utilizes complex hardware ... -
Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming
(The American Society of Mechanical Engineers (ASME), 2020)In this paper, we provide a general framework to determine inner and outer approximations to the singularity-free workspace of fully actuated robotic manipulators, subject to Type-I and Type-II singularities. This framework ... -
Master Device With Bending Safety for Flexible Surgical Robots
(The American Society of Mechanical Engineers (ASME), 2020)Flexible robots have been widely studied for application to minimally invasive surgery because of their dexterity and miniaturization ability. Conventional master devices developed to manipulate rigid link-type robots are ... -
A Lightweight Robotic Device Based on a Micro-Macro Actuation Concept for the Inspection of Railway Pantograph
(The American Society of Mechanical Engineers (ASME), 2020)Functional verification of railway pantographs is performed within periodic maintenance programs by means of specifically designed automation and robotic devices that can check their structural integrity and correct ... -
A New Index of Static Actuation Force Sensitivity of Mechanisms Based on Unified Forward Jacobian Matrix
(The American Society of Mechanical Engineers (ASME), 2020)This paper proposes a novel performance index, which is called static actuation force sensitivity (SAFS), to investigate the response of the actuation forces when the amplitude of the suffered load of the end-effector has ... -
Compound Topological Invariant Based Method for Detecting Isomorphism in Planar Kinematic Chains
(The American Society of Mechanical Engineers (ASME), 2020)An important step in the structural synthesis of kinematic chains (KCs) or mechanisms is the detection of isomorphic structures. Although many detection methods have been proposed, most of them require complex computations ... -
Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots
(The American Society of Mechanical Engineers (ASME), 2020)Variable stiffness robots may provide an effective way of trading-off between safety and speed during physical human–robot interaction. In such a compromise, the impact force reduction capability and maximum safe speed are ... -
Kinematic Analysis of the Planar Motion of Vehicles when Traveling Along Tractrix Curves
(The American Society of Mechanical Engineers (ASME), 2020)The kinematic analysis of the planar motion of vehicles, such as common cars, buses, and trucks, when traveling along linear and circular tractrices at low speeds, is proposed here based on the fundamentals of the kinematics ... -
Lower-Limb Prostheses and Exoskeletons With Energy Regeneration: Mechatronic Design and Optimization Review
(American Society of Mechanical Engineers (ASME), 2019)Lower-limb biomechatronic devices (i.e., prostheses and exoskeletons) depend upon onboard batteries to power wearable sensors, actuators, and microprocessors, therein inherently limiting their operating durations. Regenerative ... -
The Kinematics of Containment for N-Dimensional Ellipsoids
(American Society of Mechanical Engineers (ASME), 2019)Knowing the set of allowable motions of a convex body moving inside a slightly larger one is useful in applications such as automated assembly mechanisms, robot motion planning, etc. The theory behind this is called the ... -
Design of Planar 1-DOF Cam-Linkages for Lower-Limb Rehabilitation Via Kinematic-Mapping Motion Synthesis Framework
(American Society of Mechanical Engineers (ASME), 2019)When designing linkage mechanisms for motion synthesis, many examples have shown that the optimal kinematic constraint on the task motion contains too large deviation to be approximately viewed as a single rotational or ... -
The Design of Looped-Synchronous Mechanism With Duplicated Spatial Assur-Groups
(American Society of Mechanical Engineers (ASME), 2019)The looped-synchronous mechanism (LSM) is a special one degree-of-freedom (DOF) closed chain of transmission with a large number of duplicated units that synchronizes the motion of many output links. This kind of mechanism ... -
An Ankle Exoskeleton Using a Lightweight Motor to Create High Power Assistance for Push-Off
(American Society of Mechanical Engineers (ASME), 2019)Active exoskeletons have capacity to provide biologically equivalent levels of joint mechanical power, but high mass of actuation units may lead to uncoordinated walking and extra metabolic consumption. Active exoskeletons ... -
Applying a Unit-Consistent Generalized Matrix Inverse for Stable Control of Robotic Systems
(American Society of Mechanical Engineers (ASME), 2019)It is well understood that the robustness of mechanical and robotic control systems depends critically on minimizing sensitivity to arbitrary application-specific details whenever possible. For example, if a system is ... -
NAVARO II, a Novel Scissor-Based Planar Parallel Robot1
(American Society of Mechanical Engineers (ASME), 2019)This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanism is an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the three legs ... -
Design of Compliant Three-Dimensional Printed Surgical End-Effectors for Robotic Lumbar Discectomy
(American Society of Mechanical Engineers (ASME), 2019)In this paper, the design of compliant three-dimensional (3D) printed surgical end-effectors for robotic lumbar discectomy is presented. Discectomy is the surgery to remove the herniated disk material that is pressing on ...