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Journal Articles

Error Sensitivity Analysis of a 1T2R Kinematically Redundant Parallel Mechanism with Closed-Loop Chain

Accepted Manuscript
Zhizhen Zhou, Haibo Qu, Xiao Li, Buqin Hu, Sheng Guo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des.
Paper No: MD-24-1192
https://doi.org/10.1115/1.4066747
Published Online: September 30, 2024
View Article titled, Error Sensitivity Analysis of a 1T2R Kinematically Redundant Parallel Mechanism with Closed-Loop Chain
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Topics: Chain, Errors, Kinematics, Parallel mechanisms, Sensitivity analysis, Modeling, Actuators, Degrees of freedom, Design, Design methodology
Journal Articles

Print-N-Grip: A Disposable, Compliant, Scalable, and One-Shot 3D-Printed Multifingered Robotic Hand

Alon Laron, Eran Sne, Yaron Perets, Avishai Sintov
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2025, 147(1): 013301.
Paper No: MD-23-1869
https://doi.org/10.1115/1.4065889
Published Online: July 19, 2024
View Article titled, Print-N-Grip: A Disposable, Compliant, Scalable, and One-Shot 3D-Printed Multifingered Robotic Hand
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Topics: Additive manufacturing, Design, Grasping, Manufacturing, Stress, Tendons, Robotics, End effectors, Actuators
Journal Articles

Development and Validation of Robotic Ankle Exoskeleton With Parallel Nonlinear Elastic Actuator

Bing Chen, Chenpu Shi, Bin Zi, Ling Qin, Qingsong Xu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2024, 146(11): 113304.
Paper No: MD-23-1760
https://doi.org/10.1115/1.4065561
Published Online: June 3, 2024
View Article titled, Development and Validation of Robotic Ankle Exoskeleton With Parallel Nonlinear Elastic Actuator
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Topics: Actuators, Design, Exoskeleton devices, Robotics, Springs, Torque, Weight (Mass), Engines, Motors, Control equipment
Journal Articles

Optimized Design of a Soft Actuator Considering Force/Torque, Bendability, and Controllability via an Approximated Structure

Wu-Te Yang, Burak Kurkcu, Masayoshi Tomizuka
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2024, 146(12): 123301.
Paper No: MD-24-1112
https://doi.org/10.1115/1.4065522
Published Online: June 3, 2024
View Article titled, Optimized Design of a Soft Actuator Considering Force/Torque, Bendability, and Controllability via an Approximated Structure
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Topics: Actuators, Design, Optimization, Pressure, Torque
Journal Articles

Conceptual Configuration Analysis of Tetrahedral-Octahedral Heterogeneous Unit and Topological Design of Shape Morphing Mechanism

Weiming Guo, Hong Xiao, Hongwei Guo, Jianguo Tao, Zongquan Deng, Chuanyang Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2024, 146(10): 103302.
Paper No: MD-23-1470
https://doi.org/10.1115/1.4065231
Published Online: April 22, 2024
View Article titled, Conceptual Configuration Analysis of Tetrahedral-Octahedral Heterogeneous Unit and Topological Design of Shape Morphing Mechanism
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Topics: Deformation, Design, Stiffness, Topology, Trusses (Building), Shapes, Actuators, Kinematic chains, Kinematics
Journal Articles

KULEX-Wrist: Design and Analysis of Linkage-Driven Exoskeleton for Wrist Assistance

Man Bok Hong, Dukchan Yoon, Jaehyun Park, Keehoon Kim
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2024, 146(8): 083303.
Paper No: MD-23-1545
https://doi.org/10.1115/1.4064491
Published Online: March 5, 2024
View Article titled, KULEX-Wrist: Design and Analysis of Linkage-Driven Exoskeleton for Wrist Assistance
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Topics: Chain, Design, Engineering prototypes, Exoskeleton devices, Kinematics, Linkages, Rotation, Stiffness, Actuators, Screws
Journal Articles

A Literature Review on Stewart–Gough Platform Calibrations

Sourabh Karmakar, Cameron J. Turner
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Review Articles
J. Mech. Des. August 2024, 146(8): 083302.
Paper No: MD-22-1617
https://doi.org/10.1115/1.4064487
Published Online: February 1, 2024
View Article titled, A Literature Review on Stewart–Gough Platform Calibrations
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Topics: Calibration, Errors, Kinematics, Robots, Actuators
Journal Articles

A Unified Real-Time Motion Generation Algorithm for Approximate Position Analysis of Planar N-Bar Mechanisms

Zhijie Lyu, Anurag Purwar, Wei Liao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2024, 146(6): 063302.
Paper No: MD-23-1455
https://doi.org/10.1115/1.4064132
Published Online: December 15, 2023
View Article titled, A Unified Real-Time Motion Generation Algorithm for Approximate Position Analysis of Planar N-Bar Mechanisms
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Topics: Actuators, Algorithms, Kinematics, Linkages, Simulation, Optimization, Mechanical admittance
Journal Articles

Development and Dynamic State Estimation for Robotic Knee–Ankle Orthosis With Shape Memory Alloy Actuators

Zhi Sun, Yuan Li, Bin Zi, Bing Chen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2024, 146(1): 013302.
Paper No: MD-23-1300
https://doi.org/10.1115/1.4063565
Published Online: October 20, 2023
View Article titled, Development and Dynamic State Estimation for Robotic Knee–Ankle Orthosis With Shape Memory Alloy Actuators
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Topics: Actuators, Knee, Orthotics, Torque, Robotics, Shape memory alloys, Rotation, Errors
Journal Articles

Design, Modeling, and Evaluation of a Hybrid Driven Knee-Ankle Orthosis With Shape Memory Alloy Actuators

Zhi Sun, Yuan Li, Bin Zi, Bing Chen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2023, 145(6): 063301.
Paper No: MD-22-1595
https://doi.org/10.1115/1.4056692
Published Online: February 10, 2023
View Article titled, Design, Modeling, and Evaluation of a Hybrid Driven Knee-Ankle Orthosis With Shape Memory Alloy Actuators
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Topics: Actuators, Knee, Shape memory alloys, Springs, Orthotics
Journal Articles

Gravity Balancing of a Two-Degree-of-Freedom Parallel Robotic Platform With Variable Payloads

Vu Linh Nguyen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. February 2023, 145(2): 024501.
Paper No: MD-22-1394
https://doi.org/10.1115/1.4056258
Published Online: December 13, 2022
View Article titled, Gravity Balancing of a Two-Degree-of-Freedom Parallel Robotic Platform With Variable Payloads
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Topics: Design, Gravity (Force), Robotics, Springs, Torque, Gears, Actuators
Journal Articles

Design of a Compact Gear-Spring Mechanism for Static Balancing of Variable Payloads

Vu Linh Nguyen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2022, 144(12): 123301.
Paper No: MD-22-1245
https://doi.org/10.1115/1.4055121
Published Online: August 26, 2022
View Article titled, Design of a Compact Gear-Spring Mechanism for Static Balancing of Variable Payloads
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Topics: Design, Gears, Springs, Torque, Actuators
Journal Articles

A Synergy-Based Approach for the Design of a Lower-Limb, Cable-Driven Exosuit

Daniel Rodriguez Jorge, Javier Bermejo-Garcìa, Ashwin Jayakumar, Francisco Romero-Sánchez, Francisco Javier Alonso
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2022, 144(10): 103302.
Paper No: MD-21-1746
https://doi.org/10.1115/1.4054768
Published Online: June 30, 2022
View Article titled, A Synergy-Based Approach for the Design of a Lower-Limb, Cable-Driven Exosuit
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Topics: Actuators, Cables, Design, Pulleys
Journal Articles

Co-Design of the Morphology and Actuation of Soft Robots for Locomotion

Merel van Diepen, Kristina Shea
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2022, 144(8): 083305.
Paper No: MD-22-1152
https://doi.org/10.1115/1.4054522
Published Online: June 13, 2022
View Article titled, Co-Design of the Morphology and Actuation of Soft Robots for Locomotion
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Topics: Design, Optimization, Robots, Actuators
Journal Articles

A Novel Design of Torsion Spring-Connected Nonlinear Stiffness Actuator Based on Cam Mechanism

Xiangxu Qu, Dongxing Cao, Ruheng Qu, Guyu Zhang, Shan Zhang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2022, 144(8): 083303.
Paper No: MD-21-1349
https://doi.org/10.1115/1.4054116
Published Online: April 22, 2022
View Article titled, A Novel Design of Torsion Spring-Connected Nonlinear Stiffness Actuator Based on Cam Mechanism
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Topics: Design, Springs, Stiffness, Torque, Torsion, Actuators, Deflection
Journal Articles

A Compact Mirror-Symmetrical XY Compliant Parallel Manipulator for Minimizing Parasitic Rotations

Jiaxiang Zhu, Guangbo Hao, Shiyao Li, Xianwen Kong
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2022, 144(7): 073303.
Paper No: MD-21-1583
https://doi.org/10.1115/1.4053818
Published Online: March 24, 2022
View Article titled, A Compact Mirror-Symmetrical XY Compliant Parallel Manipulator for Minimizing Parasitic Rotations
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Topics: Design, Errors, Finite element analysis, Manipulators, Mirrors, Rotation, Stiffness, Displacement, Actuators, Stress
Journal Articles

An Articulated Robotic Forceps Design With a Parallel Wrist-Gripper Mechanism and Parasitic Motion Compensation

Merve Bazman, Nural Yilmaz, Ugur Tumerdem
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2022, 144(6): 063303.
Paper No: MD-21-1224
https://doi.org/10.1115/1.4053465
Published Online: February 15, 2022
View Article titled, An Articulated Robotic Forceps Design With a Parallel Wrist-Gripper Mechanism and Parasitic Motion Compensation
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Topics: Actuators, Design, Grippers, Kinematics, Robotics, Simulation, Thrust, Yaw, Motion compensation, End effectors
Journal Articles

Design of a Tensegrity Servo-Actuated Structure for Civil Applications

Cecilia Scoccia, Luca Carbonari, Giacomo Palmieri, Massimo Callegari, Marco Rossi, Placido Munafó, Francesco Marchione, Gianluca Chiappini
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2022, 144(4): 043302.
Paper No: MD-21-1355
https://doi.org/10.1115/1.4053283
Published Online: January 17, 2022
View Article titled, Design of a Tensegrity Servo-Actuated Structure for Civil Applications
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Topics: Cables, Deformation, Glass, Metals, Servomechanisms, Stress, Tensegrity, Tensegrity structures, Design, Mechatronic devices
Journal Articles

Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity

Tun Wang, Enea Olivoni, Emmanouil Spyrakos-Papastavridis, Rory J. O'Connor, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2022, 144(5): 053301.
Paper No: MD-21-1205
https://doi.org/10.1115/1.4052842
Published Online: December 6, 2021
View Article titled, Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity
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Topics: Exoskeleton devices, Rotation, Design, Actuators, Kinematics
Journal Articles

Corrugated Diaphragm Actuator for Soft Robotic Applications

Veysel Erel, Alexandra R. Lindsay, Inderjeet Singh, Muthu B. J. Wijesundara
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. April 2022, 144(4): 045001.
Paper No: MD-21-1571
https://doi.org/10.1115/1.4052625
Published Online: November 11, 2021
View Article titled, Corrugated Diaphragm Actuator for Soft Robotic Applications
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Topics: Actuators, Displacement