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.

Soft Robot Based on Hyperelastic Buckling Controlled by Discontinuous Magnetic Field


Most untethered magnetic soft robots are controlled by a continuously applied magnetic field. The accuracy of their motion depends completely on the accuracy of external magnetic field, consequently any slight disturbance may cause a dramatic change. Here, we report a new structure and driven method design to achieve a novel magnetic soft robot, denoted as “BUCK”, which can achieve accurate and stable locomotion with weakly dependence on the magnetic field. The robot BUCK consists of functional magnetic composite materials with one central transportation platform and four crawling arms, whose motion is mainly based on hyperelastic buckling and recovering of the arms. BUCK is capable of cargo transportation with multimodal locomotion, such as crawling, climbing, and turning with high adaptability to various surfaces. Due to the applied discontinuous magnetic field, BUCK consumes much less driven energy compared with conventional magnetic robots. Moreover, we develop theoretical and numerical models to rationally design the precisely controlled BUCK. Our study shows applications in terms of transportation functions, such as for optical path adjustments and photographic tasks in complex circumstances. This work also provides new ideas on how to utilize nonlinear deformation more efficiently; one could combine the benefits for both the flexible electronics and actuation applications.
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