YaBeSH Digital Library: Recent submissions
Now showing items 13441-13460 of 316660
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Static Stability of Planar Contacting Systems: Analytical Treatment in Euclidean Space
(The American Society of Mechanical Engineers (ASME), 2023)This paper gives an exact theory in Euclidean space for studying the static stability of planar rigid systems held by one or more frictional and frictionless contacts under gravity. Static stability analysis deals with ... -
Ring Origami Spring Capable of Eversion Morphing
(The American Society of Mechanical Engineers (ASME), 2023)Origami structures have been widely used in soft robots, mechanical metamaterials, architectural engineering, and biomedical engineering in recent years, benefiting from their reconfigurable shape morphing and tunable ... -
Design and Analysis of a Symmetric Overconstrained Compliant Tilt/Tip Stage Based on a Hybrid Transmission Ratio Model
(The American Society of Mechanical Engineers (ASME), 2024)Developing a compliant mechanism that have potential in parasitism suppression and cross-axis decoupling is a major challenge to meet the requirement of spatial micro-/nano positioning. This work introduces a compliant ... -
Safe Trajectory Generation for Wheel-Leg Hybrid Mechanism Using Discrete Mechanics and Optimal Control
(The American Society of Mechanical Engineers (ASME), 2023)The wheel-legged robot inherits the merit of both the wheeled robot and the legged robot, which can not only adapt to the complex terrain but also maintain the driving efficiency on the flat road. This article presents an ... -
Hydrodynamic Performance Research of Underwater Oscillating Fin With the Compound Locomotion of Two Modes
(The American Society of Mechanical Engineers (ASME), 2024)The fish-like propulsion robot is becoming a profound intelligent equipment due to its excellent swimming ability and good environmental adaptability. In this paper, we propose the oscillating fin based on the fish swimming ... -
Type Synthesis of a 3DOF Wrist Applying the Coupled-Input Cable-Driven Parallel Robot
(The American Society of Mechanical Engineers (ASME), 2024)The spatial cable-driven parallel robots (CDPRs) with low DOF (degree-of-freedom; n < 6) are like the physiological structure of bone and muscles, which are suitable for designing humanoid joints. Therefore, the type ... -
Design and Experiment of an Ankle Rehabilitation Robot After Fracture Surgery
(The American Society of Mechanical Engineers (ASME), 2024)In order to address the problem of functional rehabilitation after ankle fracture surgery, this paper presented a novel ankle fracture rehabilitation robot. The robot adopted R-3RRS-P hybrid structure, which was simple in ... -
Folding Auxetic Polygonal Kirigami Tubes
(The American Society of Mechanical Engineers (ASME), 2024)Tubular auxetic structures have wide-ranging applications including medical stents, collapsible energy absorbers, and novel fasteners. To accelerate the development in these areas, and open up new application directions, ... -
Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots
(The American Society of Mechanical Engineers (ASME), 2024)Remote-actuated mechanisms that employ tendon sheaths or tether units can transmit mechanical force without directly connecting the actuators to the mechanism, but suffer from undesirable side effects like mechanical ... -
Accurate Temperature Reconstruction in Radiofrequency Ablation for Atherosclerotic Plaques Based on Inverse Heat Transfer Analysis
(The American Society of Mechanical Engineers (ASME), 2024)Radio frequency ablation has emerged as a widely accepted treatment for atherosclerotic plaques. However, monitoring the temperature field distribution in the blood vessel wall during this procedure presents challenges. ... -
Positioning Error Estimation Models for Horizontal-Distributed Prismatic–Universal–Universal Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2024)In this paper, two models were proposed to estimate the positioning error of a 3-translational prismatic–universal–universal parallel kinematic mechanism. The two models were a kinematic error model (KEM) and a backpropagation ... -
The Database Generation for Planar 2-DOF Fractionated Multiple-Joint Kinematic Chains
(The American Society of Mechanical Engineers (ASME), 2024)According to the fractionation concept and whether containing a multiple-joint, planar kinematic chains (KCs) are primarily categorized as non-fractionated simple-joint kinematic chains (NFS-KCs), fractionated simple-joint ... -
Series Clutched Actuation for Collision-Tolerant High-Speed Robots
(The American Society of Mechanical Engineers (ASME), 2024)Collisions at high-speed can severely damage robots with non-backdrivable drivetrains. Adding an overload clutch in series can improve the robot’s collision tolerance without compromising its high dynamic performance. This ... -
Topology Optimization of a Compliant Constant-Force End Effector for Robotic Operations Over Uneven Surfaces
(The American Society of Mechanical Engineers (ASME), 2024)A compliant constant-force mechanism (CCFM) is a specific type of compliant mechanism that serves as a passive force regulation device. When subjected to a load, it undergoes deformation, resulting in an almost consistent ... -
An Analytical Model for Nonlinear-Elastic Compliant Mechanisms With Tension–Compression Asymmetry
(The American Society of Mechanical Engineers (ASME), 2024)While nonlinear-elastic materials demonstrate potential in enhancing the performance of compliant mechanisms, their behavior still needs to be captured in a generalized mechanical model. To inform new designs and functionality ... -
Design and Kinematics of a Novel Continuum Robot Connected by Unique Offset Cross Revolute Joints
(The American Society of Mechanical Engineers (ASME), 2024)Continuum robots have continuous structures and inherent compliance, which can be used for accessing unstructured and confined space in many fields, such as minimally invasive surgery and aero-engine in-situ inspection. A ... -
Robust Autonomous Mobile Manipulation for Substation Inspection
(The American Society of Mechanical Engineers (ASME), 2024)The need for autonomous infrastructure inspections performed by mobile robots is becoming increasingly prevalent, to mitigate human error and inspect critical infrastructure with increased frequency, while reducing costs. ... -
DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation
(The American Society of Mechanical Engineers (ASME), 2024)The current study presents the development and validation of a compliant Delta robot with a monolithic structure, which has been fabricated using additive manufacturing (AM). The monolithic design and the use of AM accelerate ... -
Complete Solutions for the Approximate Synthesis of Spherical Four-Bar Function Generators
(The American Society of Mechanical Engineers (ASME), 2024)Kinematic synthesis to meet an approximate motion specification naturally forms a constrained optimization problem. Instead of using local methods, we conduct global design searches by direct computation of all critical ... -
Prediction of Human Reaching Pose Sequences in Human–Robot Collaboration
(The American Society of Mechanical Engineers (ASME), 2024)In human–robot collaboration, robots and humans must work together in shared, overlapping, workspaces to accomplish tasks. If human and robot motion can be coordinated, then collisions between robot and human can seamlessly ...