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Keywords: Dynamics
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091012.
Paper No: JMR-23-1689
Published Online: May 10, 2024
... and dynamic equations, conducting finite element analysis on critical components, and testing a completed prototype. A metaheuristic optimization method was employed to derive optimal design parameters, focusing on optimizing the arm length of the connectors while maximizing dynamic performance...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124503.
Paper No: JMR-23-1584
Published Online: April 23, 2024
... swimming mechanism, which is compounded with the locomotion modes of sway and yaw. The kinematic and dynamic models are established to study the locomotion mechanism of the oscillating fin. The hydrodynamic performance of underwater locomotion is investigated to analyze the velocity, the propulsive force...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121008.
Paper No: JMR-23-1250
Published Online: April 23, 2024
...Frederik Ostyn; Bram Vanderborght; Guillaume Crevecoeur 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 paper aims...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111003.
Paper No: JMR-23-1679
Published Online: March 29, 2024
... } . Thus, rank is 5 at the one-dimensional complex solution branches, while rank is 3 only at q 0 . kinematics dynamics control of mechanical systems mechanism design mechanism synthesis and analysis parallel mechanisms and robots theoretical and computational kinematics...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121001.
Paper No: JMR-23-1757
Published Online: March 29, 2024
..., payload capacity, and dynamic stability of the robot. This study aimed to investigate the stiffness analysis of tendon-driven supportive-type CCRs (S-CCRs). For this purpose, first, a generalized framework for the dynamic mathematical formulation and numerical solution of S-CCRs was proposed...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061016.
Paper No: JMR-23-1799
Published Online: March 19, 2024
...Shengchang Fang; Guisong Chen; Yitong Zhou; Xiaojie Wang Climbing robots have gained significance in hazardous and steep terrains, yet adapting to complex environments remains a challenge. Inspired by nature's climbers, this paper introduces a climbing dynamics model that integrates foot-end...
Topics: Robots
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101011.
Paper No: JMR-23-1707
Published Online: February 28, 2024
... of M echanisms and R obotics . 09 11 2023 19 01 2024 23 01 2024 28 02 2024 Graphical Abstract Figure kinematic calibration parallel robot multi-DOF joint model product of exponentials kinematics dynamics and control of mechanical systems Nowadays...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091010.
Paper No: JMR-23-1500
Published Online: February 27, 2024
... for publication in the J ournal of M echanisms and R obotics . 31 08 2023 11 01 2024 12 01 2024 27 02 2024 Graphical Abstract Figure reducer gearless ball precession motion orthogonal-axis groove on outer spherical surface kinematics dynamics and control...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091008.
Paper No: JMR-23-1455
Published Online: February 27, 2024
..., the kinematic and dynamic aspects of serial manipulators have been scrutinized with a specific task in mind [ 33 ]. A standout example is the design of a planar manipulator aimed at maximizing throwing distance [ 34 ]. Although this study was restricted to planar manipulators, it took into account not only...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101002.
Paper No: JMR-23-1158
Published Online: February 5, 2024
... Committee of ASME for publication in the J ournal of M echanisms and R obotics . 23 03 2023 19 12 2023 22 12 2023 05 02 2024 compliant mechanisms kinematics dynamics and control of mechanical systems mechanism synthesis and analysis microscale mechanisms and robotics...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091004.
Paper No: JMR-23-1476
Published Online: February 1, 2024
...Paulo R. G. Kurka; Victor A. S. M. Paiva; Luis H. Silva-Teixeira; Paola G. Ramos; Jaime H. Izuka Most studies regarding models of tensegrity systems miss the possibility of large static deformations or provide elaborate and lengthy solutions to determine the system dynamics. Contrarily, this work...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081008.
Paper No: JMR-23-1364
Published Online: December 11, 2023
...Edward J. Haug A redundant serial manipulator inverse position kinematic mapping is employed to define a new manipulator operational space differentiable manifold and an associated system of well posed operational space differential equations of manipulator dynamics. A review of deficiencies...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071001.
Paper No: JMR-23-1182
Published Online: October 13, 2023
... (AESO)-based impedance control method is developed with actuator dynamics taken into account. The AESO can estimate and compensate for both the lumped disturbance, including the influences of moment-of-inertia variation and counter torque, and the unmeasurable states for the controller. In addition...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061007.
Paper No: JMR-23-1039
Published Online: August 31, 2023
.... Through dynamic simulations and manipulability assessments, the importance of variable coupling inertia in creating a sufficient reaction torque is highlighted. It is shown that two-DoF tails with solely revolute joints are best suited to address the balance augmentation issue. Within the two-DoF options...
Includes: Supplementary data
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061005.
Paper No: JMR-23-1245
Published Online: August 16, 2023
... obotics . 27 04 2023 17 07 2023 21 07 2023 16 08 2023 cyclic redundant manipulators manipulator differentiable manifold inverse manipulator kinematics kinematics dynamics and control of mechanical systems mechanisms and robots robot motion planning and control...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054501.
Paper No: JMR-22-1580
Published Online: June 26, 2023
...) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system...
Includes: Supplementary data
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021010.
Paper No: JMR-22-1654
Published Online: April 12, 2023
...Wei Zhu; Zhu Xu; Zhiyuan Ma; Huiping Shen Since previous studies of parallel mechanisms (PMs) have tended to favor symmetrical overall configuration to obtain relatively stable kinematic and dynamic performance and to satisfy isotropic requirements. The analysis of kinematic and dynamic performance...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031007.
Paper No: JMR-22-1179
Published Online: March 28, 2023
... prosthesis. The inverse dynamical equation of the system will help to understand whether specific types of soft actuators can produce the required force to generate natural phonations. Hence, this is referred to as the active actuation model. We present the analysis to replicate the vowels /a/, /e/, /i...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011005.
Paper No: JMR-22-1508
Published Online: March 8, 2023
... such as swing leg dynamics or kinematic and actuation limits. In this study, the formulation of capturability for whole-body humanoid robots is introduced as a partition-based approach in the augmented center-of-mass (COM)-state space. The 1-step capturable boundary is computed from an optimization-based method...