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Keywords: dynamics
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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. March 2024, 16(3): 031003.
Paper No: JMR-22-1474
Published Online: March 8, 2023
... parasitic motion, with the coupling degree k being equal to zero. Second, the kinematic and dynamic performances of the 3DOF 2T1R PM are analyzed, including symbolic forward position solutions based on its topological characteristics, the workspace based on both the forward and inverse position solutions...
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...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031004.
Paper No: JMR-22-1250
Published Online: February 21, 2023
...-static models are derived from the geometrico-static model and they allow to express the singularity conditions of the R- Min robot. An analysis of the singularity loci is carried out among the robot’s workspace. A controller based on the dynamic model is proposed and experimentally validated...
Topics: Robots, Safety
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061014.
Paper No: JMR-22-1409
Published Online: January 23, 2023
.... In this paper, a dynamics model of the elastic tendon-driven manipulator (ETDM) that considers motion coupling is established. A hierarchical sliding mode control (HSMC) method is proposed to realize the trajectory tracking control of the ETDM. On the basis of the Lyapunov design method, the actuator subsliding...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061009.
Paper No: JMR-22-1315
Published Online: January 18, 2023
... generate dynamic responses of the positioned object, which results in disturbances in the course of its movement, responsible for the final rotation angle achieved Φ = − ϕ z . On the graphs of the positioning process course, there are references indicating the moments in which the object contact...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061002.
Paper No: JMR-22-1101
Published Online: January 17, 2023
...Mingxiang Ling; Hao Zhou; Liguo Chen The kinetostatic and dynamic formulation of planar-compliant mechanisms is investigated by making use of the dynamic stiffness method based on Timoshenko beam theory. This research is prompted by the significance of considering both the shear deformation...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061007.
Paper No: JMR-22-1417
Published Online: January 17, 2023
...Fanyi Guo; Zhili Sun; Shengnan Zhang; Runan Cao; Haiyang Li To rapidly analyze the dynamic characteristics of a compliant stroke amplification mechanism (CSAM) with completely distributed compliance, an analytical model based on the dynamic stiffness matrix with consideration of the damping effect...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054502.
Paper No: JMR-22-1110
Published Online: November 25, 2022
... of the body is also considered in the center of mass (CoM) model. The terrain deformation is modeled using a spring-damper contact model, and based on the rigid body dynamics of the NIP, its motion is generated. The energy analysis of the system provides the regions of possible foot placement. Based...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051010.
Paper No: JMR-22-1144
Published Online: November 25, 2022
... of the discrepancy between the initial and the final configurations. The physical foundation of motions of the dynamic system of a robot is based on the principle of least-energy or the minimum-energy principle [ 16 ] from which the dynamic response of a robot is derived. In the physical case of the Franka...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041012.
Paper No: JMR-22-1126
Published Online: November 14, 2022
...Jinlu Ni; Jiangping Mei; Yabin Ding; Dongxing Yu; Yunrui Duan; Yuxin Le By considering both motion smoothness and dynamic stress, a trajectory planning method for delta robots, with the goal of determining the two optimal normalized time factors that dominate the motion path in operation space...