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.

A New Cam-Follower Safety Joint Mechanism Design Based on Variable-Length Four-Bar Linkage for Robot Safety

Abstract

Humans come into physical contact with various machines such as robots in daily life. This leads to the underlying issue of guaranteeing safety during such human-robot interactions. Thus, many devices and methods have been studied for impact damage reduction. A safety joint mechanism (SJM) using four-bar linkages has been highlighted as an impact cutoff device owing to its capabilities of nonlinear load transfer. This paper focuses on a new design and testing for a kinematic element of an SJM based on four-bar linkages to improve the impact cutoff performances. In the present work, a set of variable-length floating link designs is proposed, and the mechanism is implemented by mechanical contact surface profile shaping between the cams and followers. The performance of the cam-follower mechanism is evaluated depending on the variable length of the floating link, by using the equivalent stiffness method, which successfully quantifies the performance of the proposed mechanism. Based on this design and analysis, two SJMs having symmetrical arrangements for four numbers of cam-follower mechanisms are fabricated: one SJM has fixed-length floating links and the other has variable-length floating links. The effect of the new kinematic elements on the performance improvement is verified by comparing the absorbed impact rates of the two SJMs by impact hammer-like drop tests. Consequently, it is confirmed that the rapid length change of the floating link is the core element for improving the performance of the safety mechanism.
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