Special Issue: Selected Papers From IDETC-CIE 2020

This special issue of the ASME Journal of Mechanisms and Robotics is a compendium of 25 of the best papers submitted and presented at the 44th ASME Mechanisms and Robotics Conference during the 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2020). Read More Journal of Mechanisms and Robotics […]

Design and Bending Analysis of a Metamorphic Parallel Twisted-Scissor Mechanism

Abstract The conventional scissor mechanism is used in modern engineering and robotic applications due to its metamorphic ability. The folding configuration provides space-saving and unfolding provides longer linear expansion capability. However, a conventional scissor suffers unexpected and uncontrolled large bending deformation due to low bending stiffness while unfolding configuration, which may damage its structure. It […]

A Distribution Method of Driving Torque for a Novel 3UPS-RR Redundant Solar Tracker

Abstract This paper proposes a novel two-axis solar tracker with a redundant parallel mechanism and investigates the distribution method of driving torque. In view of the difference between the singular configuration of the redundant parallel mechanisms and that of the corresponding non-redundant ones, an index related to the minimum singular value of the Jacobian matrix […]

Call for Papers for the Special Issue: Selected Papers From IDETC-CIE 2021

The ASME Journal of Mechanisms and Robotics invites papers for a special issue drawing on papers from the 45th Mechanisms and Robotics Conference (MR), held as part of the 2021 International Design and Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2021). Sponsored by the Mechanisms and Robotics Technical Committee of the […]

Kinematic Analysis and Optimal Design of a Novel Schönflies-Motion Parallel Manipulator With Rotational Pitch Motion for Assembly Operations

Abstract This paper presents a novel Schönflies-motion Parallel Manipulator with RotationalPitch motion (SPM-RP) based on a single-platform fully parallel mechanism. An analysis of the position, workspace, velocity, and singularity of the SPM-RP is carried out in detail, and a dimensionless Jacobian is proposed to evaluate the manipulability of the SPM-RP. The analysis shows that the […]

Exploiting Redundancies for Workspace Enlargement and Joint Trajectory Optimization of a Kinematically Redundant Hybrid Parallel Robot

Abstract In this paper, possibilities for workspace enlargement and joint trajectory optimization of a (6 + 3)-degree-of-freedom kinematically redundant hybrid parallel robot are investigated. The inverse kinematic problem of the robot can be solved analytically, which is a desirable property of redundant robots, and is implemented in the investigations. A new method for detecting mechanical […]

Multiparameter Real-World System Identification Using Iterative Residual Tuning

Abstract In this work, we consider the problem of nonlinear system identification using data to learn multiple and often coupled parameters that allow a simulator to more accurately model a physical system or mechanism and close the so-called reality gap for more accurate robot control. Our approach uses iterative residual tuning (IRT), a recently developed […]

Neural Network-Based Transfer Learning of Manipulator Inverse Displacement Analysis

Abstract In this paper, the feasibility of applying transfer learning for modeling robot manipulators is examined. A neural network-based transfer learning approach of inverse displacement analysis of robot manipulators is studied. Neural networks with different structures are applied utilizing data from different configurations of a manipulator for training purposes. Then, the transfer learning was conducted […]

Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots

Abstract The design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they move over a substrate. At smaller length scales, the influence of adhesion and friction, which scales with […]