Latest Papers

ASME Journal of Mechanisms and Robotics

  • Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
    by Audet JM, Gosselin C. on July 21, 2021 at 12:00 am

    AbstractIn this paper, the concept of underactuated redundancy is presented using a novel spatial two-degrees-of-freedom (2-DoF) gravity-balanced rotational manipulator, composed of movable counterweights. The proposed kinematic arrangement makes it possible to intuitively manipulate a payload undergoing 3-DoF spatial rotations by adding a third rotational axis oriented in the direction of gravity. The static equilibrium equations of the 2-DoF architecture are first described in order to provide the required configuration of the counterweights for a statically balanced mechanism. A method for calibrating the mechanism, which establishes the coefficients of the static equilibrium equations, is also presented. In order to both translate and rotate the payload during manipulation, the rotational manipulator is mounted on an existing translational manipulator. Experimental validations of both systems are presented to demonstrate the intuitive and responsive behavior of the manipulators during physical human–robot interactions.

  • Special Section: Mobile Robots and Unmanned Ground Vehicles
    by Reina G, Das TK, Quaglia G, et al. on July 21, 2021 at 12:00 am

    Inspired by the fifth-year anniversary celebration of the homonymous symposium at the International Mechanical Engineering Congress & Exposition (IMECE), this Special Section with ten articles shares the latest research efforts in design, theory, development, and applications for mobile robots and unmanned ground vehicles.

Stiffness Evaluation of an Adsorption Robot for Large-Scale Structural Parts Processing


Efficient and economical processing of large-scale structural parts is in increasing need and is also a challenging issue. In this paper, an adsorption machining robot for processing of large-scale structural parts is presented. It has potential advantages in flexible, efficient, and economical processing of large-scale structural parts because of the adsorption ability. Stiffness is one of the most important performance for machining robots. In order to investigate the stiffness of the robot in the workspace, the kinematics of the adsorption manipulator, the five-axis machining manipulator, and the adsorption machining robot is derived step by step. Then with the help of finite element analysis (FEA), a stiffness modeling method considering the compliance of the base is proposed. A stiffness isotropy index is put forward to evaluate the robot’s overall stiffness performance by taking all possible working conditions into consideration. Based on the index, stiffness evaluation in the reachable workspace is carried out and an optimized workspace is identified considering the overall stiffness magnitude, stiffness isotropy, and workspace volume, which will be used in the machining process. The stiffness modeling method and stiffness isotropy index proposed in the paper are universal and can be applied to other parallel robots.
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