Journal of Mechanisms and Robotics-Transactions of the Asme最新文献_第6页

Multi-Furcation Variations of Two Novel Double-Centered Mechanisms Based on Higher Order Kinematic Analyses and Singular Value Decomposition 基于高阶运动学分析和奇异值分解的两种新型双中心机构的多分叉变异

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-07-10 DOI: 10.1115/1.4062915

Zhao Tang, J. Dai

引用次数: 0

Modeling Method for Static Large Deflection Problem of Curved Planar Beams in Compliant Mechanisms Based on a Novel Governing Equation 基于新控制方程的柔顺机构平面曲梁静态大挠度建模方法

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-07-10 DOI: 10.1115/1.4062916

Jingyu Jiang, Song Lin, Hanchao Wang, N. Modler

{"title":"Modeling Method for Static Large Deflection Problem of Curved Planar Beams in Compliant Mechanisms Based on a Novel Governing Equation","authors":"Jingyu Jiang, Song Lin, Hanchao Wang, N. Modler","doi":"10.1115/1.4062916","DOIUrl":"https://doi.org/10.1115/1.4062916","url":null,"abstract":"\u0000 Slender beams serve as typical flexible components to transfer motion, force, and energy in compliant mechanisms (CMs). Therefore, the accurate and efficient kinetostatic modeling for the slender beams are highly needed in the synthesis and analysis of compliant mechanisms. Several impressive and great modeling methods have been completed by the pioneering researchers based on the governing equation of slender beams, which can solve the deflection of the beam while the beam-tip loads are known. However, parts of the beam-tip loads are unknown in some scenarios and the traditional governing equation becomes inefficient in these scenarios. The aim of this paper is to propose a novel modeling method for the compliant mechanism, which can solve the large deflection problem without iterative algorithm. In this research, a novel governing equation of slender beams has been established based on the Castigliano&s principle and simplified by the differential geometry. In the proposed governing equation, the statically force equilibrium equations and geometric constraint equations between different slender beams can be established in the boundary conditions, so the model of compliant mechanisms can be solved directly even if parts of the beam's tip loads and displacements are unknown. The proposed governing equation provides the deformed shapes and cross-sectional loads of the slender beams, which help the designer to check the mechanical interference and strength in the design process. The numerical examples are presented to demonstrate the feasibility of proposed method.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44762749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Numerical and Experimental Study on Caudal Fin Oscillation Mode in Hemispherical Space 半球空间尾鳍振荡模式的数值与实验研究

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-28 DOI: 10.1115/1.4062862

Shuyan Wang, Yunqi Han, Zhiming Wu, Zhiliang Huang

{"title":"Numerical and Experimental Study on Caudal Fin Oscillation Mode in Hemispherical Space","authors":"Shuyan Wang, Yunqi Han, Zhiming Wu, Zhiliang Huang","doi":"10.1115/1.4062862","DOIUrl":"https://doi.org/10.1115/1.4062862","url":null,"abstract":"\u0000 Attaining multidimensional movements, such as cruising, diving, and turning, is a crucial challenge in the development of bionic robotic fish. When only focusing on caudal fin movements, the caudal fin of a tuna generates significant lateral and propulsive forces and weak lift, while in contrast, the caudal fin of a dolphin generates significant lift and propulsive forces and weak lateral forces. The paper introduces a novel caudal fin oscillation mode for the hemispherical space, which extends the caudal fin oscillation features observed in tuna and dolphin to a broader range of organisms. Firstly, we presented the concept of hemispherical space caudal fin oscillation mode, and demonstrated the principle of lift distribution through theoretical calculations. Moreover, we detailed the force distribution obtained by the robotic fish under different caudal fin oscillation modes through numerical simulations. Finally, we experimentally validated the feasibility of the hemispherical space caudal fin oscillation mode. The results indicate that by modifying the oscillation mode of the caudal fin in bionic robotic fish, it is possible to distribute the lift generated by the fin movement to various forces that aid in achieving multidimensional movement, including propulsive, lateral, and lift forces.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47815108","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Variable Stiffness Sole for Biped Robot and Its Experimental Verification 双足机器人变刚度鞋底及其实验验证

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-26 DOI: 10.1115/1.4062650

Junyeon Namgung, Yun-Ho Han, Baek-Kyu Cho

引用次数: 0

Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot 内腔加工混合动力机器人2RRU-RRS并联运动机构设计

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-26 DOI: 10.1115/1.4062649

Lingmin Xu, Xinxue Chai, Ye Ding

引用次数: 0

Conceptual Design of a Novel Particle-Based Soft Grasping Gripper 一种新型颗粒软抓握器的概念设计

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-26 DOI: 10.1115/1.4062647

Qianyi Chen, Dingena L. Schott, Jovana Jovanova

{"title":"Conceptual Design of a Novel Particle-Based Soft Grasping Gripper","authors":"Qianyi Chen, Dingena L. Schott, Jovana Jovanova","doi":"10.1115/1.4062647","DOIUrl":"https://doi.org/10.1115/1.4062647","url":null,"abstract":"Abstract Soft grippers show adaptability and flexibility in grasping irregularly shaped and fragile objects. However, the low loading capacity and less deformation limit the soft gripper for developing large-scale applications. To overcome these limitations, we propose a new concept of a soft actuator with engineered smart particles. The proposed soft actuator is a dual-chamber programmable structure made from an elastic membrane filled with different particles, which can be driven by expanding particle volume or flexible membrane shrinking. Compared to traditional pneumatic or particle-jamming actuators, we use a combination of granular materials and smart materials, which delivers better active performances of large-scale deformation and variable stiffness. The coupled numerical model of the discrete element method and the finite element method is used to demonstrate the concept. The results indicated that the proposed soft gripper achieves the functionality of large deformation by a shrinking membrane or expanding particles. By controlling different design parameters, the actuator bends up to 138 deg, and the stiffness is up to a maximum of nine times of the pneumatic actuator. Additionally, the bending angle and deflections of the gripper actuator first increase and then drop down with increasing particle diameter ratio, actuator length, and elastic modulus of membrane material. Hence, the choice of different parameters must be in a specific range to achieve the required deformation. In conclusion, the soft-grasping gripper actuator can realize large bending deformation and shows potential for developing soft grippers in multi-scale physical scenarios.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"293 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135555950","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Data-Driven Dynamics Modeling and Control Strategy for a Planar n-DOF Cable-Driven Parallel Robot Driven by n+1 Cables Allowing Collisions n+1缆索碰撞驱动平面n自由度缆索驱动并联机器人的数据驱动动力学建模与控制策略

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-21 DOI: 10.1115/1.4062792

Genyuan Xu, Haoda Zhu, Hao Xiong, Y. Lou

引用次数: 1

Design and Analysis of a 6-DOF Microsurgical Instruments Based on Rigid-flexible Coupling Multi-body System 基于刚柔耦合多体系统的六自由度显微外科器械设计与分析

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-21 DOI: 10.1115/1.4062791

Xuewen Wang, Yang Yu, Yang Jinhe, Zhengxiao Xu, Haipeng Liu

{"title":"Design and Analysis of a 6-DOF Microsurgical Instruments Based on Rigid-flexible Coupling Multi-body System","authors":"Xuewen Wang, Yang Yu, Yang Jinhe, Zhengxiao Xu, Haipeng Liu","doi":"10.1115/1.4062791","DOIUrl":"https://doi.org/10.1115/1.4062791","url":null,"abstract":"\u0000 In order to improve the operational accuracy of microsurgical instruments and increase the success rate of surgery, this paper carries out the design and analysis of six-degree-of-freedom (6-DOF) microsurgical instruments based on rigid-flexible coupling multi-body system. Firstly, the kinematic modeling method of the 6-DOF parallel mechanism with flexible hinges is improved based on the pseudo-rigid body theory in this paper. Secondly, a rigid-flexible coupling simulation system is built to analyze the error sources in terms of the remote center of motion (RCM), preload and side load. Then, the function of motion scaling, the accuracy of kinematic modeling and the validity of the workspace are demonstrated by analyzing the workspace. Finally, the maximum stress and modal analysis are solved to ensure the safety and reliability of the application. The analysis results show that the improved kinematic modeling method improves the positioning accuracy by more than two times, the root mean square error (RSME) at the end of the microsurgical instrument does not exceed 10μm in the workspace. And the microsurgical instrument can withstand a side load of 0.1 N at the RCM. This study will provide a reference for the structural design and control algorithm optimization of the 6-DOF parallel microsurgical instruments.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43867988","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments 用于受限空间组织诊断的柔性机械手:运动学和力分析以及初始表征实验

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-19 DOI: 10.1115/1.4062762

Samson A. Adejokun, P. Shiakolas

{"title":"A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments","authors":"Samson A. Adejokun, P. Shiakolas","doi":"10.1115/1.4062762","DOIUrl":"https://doi.org/10.1115/1.4062762","url":null,"abstract":"\u0000 Minimally invasive procedures employ continuum manipulators, however internal human anatomy presents challenges relating to size, dexterity, and workspace for these manipulators. This manuscript presents modeling, kinematic analysis, prototyping, and characterization of a micro-robotic manipulator for transurethral palpation of bladder tissue. The proposed micro-robot consists of two subsystems: a tendon-driven continuum segment with an elastic tube encompassing each joint for compliance and structural integrity, and a hyper-spherical joint ensuring higher dexterity and manipulability with a comprehensive actuation and modeling approach. The forward kinematics follow the Denavit-Hartenberg formulation. A developed differential Jacobian inverse kinematics formulation prevents motion singularities for desired poses while operating in the confined space. The simulated kinematic results confirm the dexterity and reach of the proposed micro-robot. A strain energy quasi-static model is developed for a single continuum module. The model is evaluated for tension-bend angle relationships as function of tube material and geometry, and joint length. Limited functionality continuum modules (4mm outside diameter) with four different joint lengths, (3, 6, 9, 12) mm, are prototyped for tension-bend angle characterization using a computer vision outfitted experimental setup. An equivalent shear modulus relationship for the elastic tube for selected joint length values and bend angles is developed using experimental results. The tension-bend angle response is nonlinear and function of tube properties, joint geometry, and their interactions. The comparison of the experimental and quasi-static model results shows high fidelity for use in predicting the robot continuum segment behavior.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48128222","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Erratum: “Robotic Tensegrity Structure with a Mechanism Mimicking Human Shoulder Motion” [ASME J. Mech. Rob. 14(2), p. 025001; DOI: 10.1115/1.4052124] 勘误表：“具有模仿人类肩部运动机制的机器人张紧结构”[ASME J.Mech.Rob.14（2），第025001页；DOI:10.1115/14052124]

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-19 DOI: 10.1115/1.4062763

Lengxue Li, Sunhong Kim, Junho Park, Young-Min Choi, Qiang Lu, D. Peng

引用次数: 0