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Keywords: dynamics
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051002.
Paper No: JMR-23-1796
Published Online: November 1, 2024
... kinematic criteria moment-based method industrial robots data-enabled analysis of mechanical systems and robots kinematics dynamics and control of mechanical systems mechanisms and robots multi-robot systems National Natural Science Foundation of China 10.13039/501100001809 Grant Nos...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051004.
Paper No: JMR-24-1052
Published Online: November 1, 2024
... and R obotics . 24 01 2024 27 09 2024 27 09 2024 01 11 2024 cooperative object transport multi-robot systems non-contact mechanisms magnetic pushing leader–follower formation kinematics dynamics and control of mechanical systems mechanisms and robots...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051006.
Paper No: JMR-24-1144
Published Online: November 1, 2024
.... Therefore, having a fully articulated arm on top of a legged robot is kinematically redundant. Fig. 1 State-of-the-art six-DoF robotic arm mounted on Boston Dynamics Spot. The arm weighs 8 kg and, when mounted on Spot in, can only lift 25% of the total platform weight. State-of-the-art six-DoF...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031010.
Paper No: JMR-23-1702
Published Online: September 20, 2024
... . 07 11 2023 12 07 2024 15 07 2024 20 09 2024 Email: zhiguangx_hit@163.com Email: yangguoguo@math.pku.edu.cn Email: wangpengyuan329@163.com Email: wuhuzhengzheng@126.com 1 Corresponding author. Email: zhaojianwen@hit.edu.cn kinematics dynamics...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021013.
Paper No: JMR-23-1698
Published Online: September 20, 2024
...Sunil Gora; Shakti S. Gupta; Ashish Dutta Gait generation of a humanoid robot on a deformable terrain is a complex problem as the foot and terrain interaction and terrain deformation have to be included in the dynamics. To simplify the dynamics of walk on deformable terrain, we used a spherical...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031006.
Paper No: JMR-24-1040
Published Online: September 3, 2024
... a broad range of biological species including cockroaches, quail, and kangaroo and found that a large majority of legged systems have a non-dimensional stiffness within a range of 7–27 [ 8 ]. This observational study concluded that the dynamics of these legged systems could be well approximated...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021001.
Paper No: JMR-23-1486
Published Online: July 19, 2024
.... The dynamics model of the overall system is then derived, and a sensitivity analysis is performed over a finite number of different trajectories, in order to evaluate the quasi-static assumption, the effects of the model, and the influence of the elastic constraint. Finally, experiments have been performed...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021002.
Paper No: JMR-23-1749
Published Online: July 19, 2024
...A. Ghoul; S. Djeffal; H. Wang; K. Kara; M. L. Hadjili This paper tackles the challenges encountered in surgical continuum robotics by introducing a dynamic model tailored for a cable-driven continuum robot. The intricacies of dynamic modeling and control frequently lead to suboptimal outcomes...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021005.
Paper No: JMR-23-1686
Published Online: July 19, 2024
.... Second, the kinematics of the new deployable mast mechanism is established based on its structural symmetry and modular features. Third, the deploying dynamics of the new mechanism are built based on the Lagrange equation. Fourth, the deployed/folded ratio, interference, and singularity of the new...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021006.
Paper No: JMR-23-1606
Published Online: July 19, 2024
... reconfigurable closed-chain leg, allowing for flexible trajectory by adjusting the length of the hydraulic cylinder. Kinematic model and system dynamics are analyzed considering the multi-body dynamics of the proposed system. To actively adapt to different terrains with flexible footprints, a variable-domain...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011006.
Paper No: JMR-24-1049
Published Online: June 24, 2024
...Sekar Anup Chander; Ashutosh Mukherjee; Vhatkar Dattatraya Shivling; Ashish Singla Euler–Lagrange's formulation is known for its systematic and simplified approach to deriving dynamics of complex systems. In order to apply the existing formulation to human gait dynamics, the base reference frame...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010908.
Paper No: JMR-23-1708
Published Online: June 17, 2024
.... Zeghloul , L. Romdhane , and M. A. Laribi , eds., Springer International Publishing , Cham , pp. 190 – 197 . [33] Gagliardini , L. , Gouttefarde , M. , and Caro , S. , 2016 , “ Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots ,” 15th...
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): 091008.
Paper No: JMR-23-1455
Published Online: February 27, 2024
... be significantly accelerated by prioritizing easier-to-test constraints over more complex ones. This approach was demonstrated on a precision throwing task involving a 6-DOF industrial manipulator with various obstacles in its path. Moreover, the principle of dynamic sensitivity was employed to enhance...