Journal of Mechanisms and Robotics: Recent submissions
Now showing items 41-60 of 1771
-
Energy-Efficient and Stride-Level Hybrid Locomotion of a Leg-Wheel Transformable Robot
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. It is desirable to operate the robot with all its possible driving mechanisms for energy-efficient locomotion. In this work, using a leg-wheel transformable robot as an example, we proposed a methodology to ... -
A 3D Discrete Elastic Rod Model and Observer for Continuum Robots
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Soft and continuum robots have unique advantages and capabilities useful in medical applications and confined environments due to their highly flexible structure. However, their underactuation and theoretically ... -
Multi-Objective Optimization of Motion Control for 6-Bar 18-Cable Tensegrity Structure Based on Jaya Algorithm
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Tensegrity structures, celebrated for their lightweight design, high efficiency, and shape adaptability, have broad application prospects in structural engineering, aerospace, robotics, and other interdisciplinary ... -
Augmenting Reduced-Order Control for Push Recovery with Full-Order Balance Stability Basins
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Robust push recovery controllers must stabilize a system in response to various perturbations. Existing approaches often determine these actions based on reduced-order models, which can either underutilize the ... -
A Compact Ultralinear Compliant Torsion-Reinforced Sarrus Mechanism
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. In this study, a promising design for a compact compliant torsion-reinforced Sarrus mechanism (CORS) capable of achieving ultralinear motion is presented. The CORS prototype, made entirely of aluminum, is produced ... -
Modeling and Simulation of a Novel Parallel Robotic System for Minimally Invasive Pancreatic Surgery
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article presents the kinematic modeling, workspace analysis, and simulation of a novel modular parallel robot with four degrees-of-freedom, specifically designed to support minimally invasive pancreatic ... -
On the Construction of Kinematic Hull for N-Poses of a Bounded Spatial Object
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. In this study, we extend the concept of the average squared distance (ASD)-minimizing motion sweeps from two poses to four poses for the construction of kinematic hulls of bounded spatial objects. Drawing an ... -
Design, Modeling, Evaluation, and Control of a Compact Discrete Variable Stiffness Actuator
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article introduces a novel compact discrete variable stiffness actuator, distinguished by its design topology enabling compactness and independent stiffness adjustment regardless of position, without relying ... -
OrigaMatic: A Computational Workflow for Multi-Material Design Bridging Thick-Panel Origami and Additive Manufacturing
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Origami-based compliant mechanisms have unlocked new possibilities in the design of adaptable structures, resulting in lightweight, reconfigurable, and material-efficient systems. However, translating the complex ... -
Nonlinear Spatial Modeling and Comparison of a Compact Compliant Linear Guide for Integration With Active Ferrofluid Bearings
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Compliant mechanism (CM) motion stages are used in high-precision applications for their frictionless, smooth motion with minimal hysteresis. However, parasitic motion errors and instability arise due to finite ... -
A Spatial Variable-Structure Cable-Driven Parallel Robot Through Cables Wrapping Over a Convex Polyhedron
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. The workspace of a cable-driven parallel robot (CDPR) in a complex environment is limited by obstacles and objects. To adapt a CDPR to a complex environment and enlarge the limited workspace, this article proposes ... -
Synthesis and Application of Reduced-Dimension Optimization for Rigid-Body Guidance of Stephenson-III Six-Bar Linkages on the Basis of Fourier Harmonic Characteristics
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Rigid-body guidance synthesis of linkages must satisfy the requirements of position and posture simultaneously, which increases the difficulty of dimensional synthesis. Extraction of harmonic characteristic ... -
Generative Design of Planar Four-Bar Motions
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article introduces a novel deep generative approach to the approximate motion synthesis of planar four-bar mechanisms. Existing motion synthesis approaches for synthesizing four-bar mechanisms have generally ... -
Design of a Bistable Inertial Clutch for a Passive-Elastic Ankle Exoskeleton
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Unpowered ankle exoskeletons are advantageous over powered ankle exoskeletons owing to their low weight. However, passive ankle exoskeletons without force transmission control can cause discomfort in certain ... -
Fully Flexible Bioinspired Jet Propulsion Robot Actuated by Shape Memory Alloys
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. The development of soft robots for deep-ocean exploration presents significant challenges, particularly in advancing actuation technologies. There is a growing need to integrate unconventional actuation methods ... -
Type Synthesis of Adaptive Lower Limb Exoskeleton Mechanisms for Knee Joint Unloading
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Exoskeleton robots play an important role in assisting human locomotion and healthcare services. This study focuses on the type synthesis issue of a class of unloading exoskeleton mechanisms that reduce the load ... -
Design and Implementation of a Closed-Chain Flapping-Wing Mechanism for Bionic Compound Motion With Active Torsion
(The American Society of Mechanical Engineers (ASME), 2025)Abstract. Inspired by the structural features, kinematic differences, and functional distinctions between the arm wings and hand wings of birds, we propose a design method for a two-loop closed-chain flapping-wing mechanism. ... -
Trailer Trains Traveling Along Tortuous Paths With All-Wheel Steering Systems Controlled by Dedicated Mechanisms
(The American Society of Mechanical Engineers (ASME), 2025)Abstract. The trailer trains for the transport of freight in sites where people are present proceed rather slowly along tortuous paths and roll on stiffer wheels compared with the common road vehicles, whence their motion ... -
Design of a Patient-Specific Needle Insertion Device for Accurate and Safe Lumbar Puncture
(The American Society of Mechanical Engineers (ASME), 2025)Abstract. Robotic-assisted lumbar puncture (LP) has demonstrated significant advantages over manual procedures in terms of accuracy and repeatability, with robotic-assisted needle insertion devices (RNIDs) serving as the ... -
Minimizing Under-Constraint in Folded Beams to Achieve Optimal Bearing Performance in Diaphragm Flexures
(The American Society of Mechanical Engineers (ASME), 2025)Abstract. Diaphragm flexures are widely used in various precision applications to generate guided motion along the out-of-plane directions and provide load bearing along the in-plane directions. The traditional Asymmetric ...