Journal of Mechanisms and Robotics: Recent submissions
Now showing items 21-40 of 1771
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Robust Robot Placement and Tool Geometry Optimization for Continuous Cutting and Welding Trajectories Under Positioning Uncertainty
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article presents a task-oriented computational framework for robot base placement and tool center point (TCP) selection in continuous robotic applications such as welding and cutting, with a particular focus ... -
Kinematic and Dexterity Analysis for Stable Jacobian-Switching Control of a Real-Time Reconfigurable Robotic Mechanism
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article presents the internally-hidden linkage (IHL), a novel self-reconfigurable mechanism featuring encapsulated prismatic–revolute (PR) joints. The IHL enables real-time topological adaptation of workspace, ... -
Enhancing Dynamic Force Characteristics of a 3-RPS Parallel Manipulator Using Integrated Mechanical Springs
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This study introduces an approach for reducing actuation forces in a 3-RPS (R: Revolute, P: Prismatic, U: Universal, S: Spherical) parallel manipulator through the integration of mechanical springs. Three distinct ... -
Multi-Loop Mechanisms Inspired by Flexible Polyhedrons: Construction and Mobility
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Inspired by flexible polyhedrons, this article proposes a construction method that converts flexible polyhedrons into multi-loop mechanisms. Several multi-loop mechanisms with a single-degree-of-freedom are ... -
On the Design of Parallel and Hybrid Anthropomorphic Robot Arms: Type Synthesis and Alternative Hybrid Architectures
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article presents an attempt at a type synthesis of four-degree-of-freedom parallel mechanisms that produce an SR-equivalent motion pattern in order to replicate the movement of the human arm, as well as a ... -
Design and Dynamics of a Tendon-Actuated Flexible Crawling Robot
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Flexible crawling robots have extensive applications in various fields, including on-orbit modular assembly, space transportation, and spacecraft surface maintenance. This article designs a tendon-actuated flexible ... -
Overconstraint Reduction for Mechanism Networks of Threefold-Symmetric Bricard Linkages
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Mechanism networks constructed by spatial overconstrained linkages can offer great potential for deployable mechanisms, such as the great stiffness and large folding ratio, yet their inherent overconstrained ... -
Closed-Form Solutions to the Direct Kinematics of a Family of 3-XPS Parallel Mechanisms
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. We derive closed-form solutions to the direct-kinematics problem of a family of three and six degrees-of-freedom 3-X_PS parallel manipulators. In this class, the direct kinematics reduces to the classical ... -
Joint Stiffness-Based Assisted-as-Needed Control Strategy for Wrist Rehabilitation
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article introduces a novel stiffness-based assist-as-needed (AAN) control strategy aimed at optimizing the balance between robotic assistance and patient engagement in wrist rehabilitation. Central to the ... -
Evaluation Method of Motion/Force Transmission Performance for Parallel Mechanisms With Sub-Moving Platforms
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. A class of parallel mechanisms with sub-moving platforms (PMs-SMPs) has significant advantages in stiffness and loading capacity over traditional parallel mechanisms (PMs). A detailed classification of both the ... -
Design and Experimental Validation of a Novel Hybrid Robot for Fibula Osteotomies in Mandibular Reconstruction Surgery
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Due to technical complexity, precise and safe fibula shaping for mandibular reconstruction remains a challenge. Robots offer high operational precision, and robotic-assisted osteotomy can meet fibular cutting ... -
Dynamics Modeling and Performance Evaluation of a 3-Cylindrical–Prismatic–Spherical Orthogonal SDelta Robot Based on the Virtual-Work Principle
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. The SDelta is a six-degree-of-freedom (six-dof) parallel kinematics machine (PKM) designed for high-speed operations. It features a cylindrical–prismatic–spherical (CPS) joint structure. The orthogonal SDelta ... -
On the General Dynamic Modeling Method for Soft Bending Actuators With Multiple Fluidic Chambers
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. The complex structure, infinite degrees-of-freedom, and nonlinearity of soft actuators make dynamic modeling one of the most challenging tasks in the field of soft robotics. Furthermore, few studies on general ... -
Kinematic Analysis for a Planar Continuum Parallel Manipulator With Large-Deflection Links Based on Transfer Learning
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article presents a transfer learning method to address the kinematics problem of a planar continuum parallel manipulator with large-deflection links. This method is motivated by the need for lightweight, ... -
Dynamic Rolling Planning of a Wheel-Like Mobile Mechanism Based on Centroidal Angular Regulation
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article presents an analysis of the dynamic performance of a centrally driven wheel-like mobile mechanism, enhancing the continuous mobility of the linkage-type mobile mechanism, which is critical for improving ... -
A Passive Backpack Exoskeleton Based on a Four-Bar-Sinusoidal Coupled Mechanism for Centroid Regulation and Load Reduction
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Excessive oscillation of the load centroid in the sagittal plane imposes impact and oscillatory force on the shoulders and back, contributing to upper-body muscle fatigue. To address this issue, this paper ... -
Gravity-Compensated Model Predictive Control and Whole-Body Optimization for Humanoid Locomotion
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Achieving stable and coordinated locomotion in high-dimensional humanoid robots remains challenging, particularly considering variations in support phases, model uncertainties, and redundancy arising from ... -
Hierarchical Approach Toward Cooperative Manipulation and Transportation Using Mobile Robots
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Robotic manipulation and transportation of payloads are finding widespread adoption, especially in industrial applications. This article presents a novel approach toward multi-robot cooperative manipulation and ... -
Pseudo-Reflection: A Graphical Method to Predict Stable Positions in Four-Bar and Five-Bar Bistable Linkages
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This work introduces Pseudo-Reflection, a graphical method for predicting candidate stable positions in bistable linkages and compliant mechanisms. Compared to computational methods that are typically used to ... -
Infinitely Refinable Generalization of Quad-Mesh Rigid Origami: From Linear and Equimodular Couplings
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. A quad-mesh rigid origami is a continuously deformable panel-hinge structure where planar, rigid, zero-thickness quadrilateral panels are connected by rotational hinges in the combinatorics of a grid. This article ...