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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

An Integrated Kinematic Mapping and Fourier Method to Design Spherical Coupled Serial Chain Mechanisms for Single-Joint Rehabilitation

Xiangyun Li, Hao Lv, Xi Yu, Peng Chen, Kang Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2024, 146(4): 043301.
Paper No: MD-23-1157
https://doi.org/10.1115/1.4063656
Published Online: November 7, 2023
View Article titled, An Integrated Kinematic Mapping and Fourier Method to Design Spherical Coupled Serial Chain Mechanisms for Single-Joint Rehabilitation
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Topics: Chain, Design, Kinematics, End effectors, Fourier series
Journal Articles

Modeling and Design of a Five Degrees-of-Freedom Delta-Like Robot for Fast Pick-and-Place Applications

Valentin Le Mesle, Vincent Bégoc, Sébastien Briot
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2023, 145(12): 123302.
Paper No: MD-23-1088
https://doi.org/10.1115/1.4063359
Published Online: October 6, 2023
View Article titled, Modeling and Design of a Five Degrees-of-Freedom Delta-Like Robot for Fast Pick-and-Place Applications
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Topics: Design, Engineering prototypes, Robots, Rotation, Degrees of freedom, Kinematics, Optimization, End effectors
Journal Articles

Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm

Bin Zhou, Sipan Li, Bin Zi, Bing Chen, Weidong Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2023, 145(8): 083301.
Paper No: MD-22-1730
https://doi.org/10.1115/1.4062458
Published Online: May 22, 2023
View Article titled, Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm
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Topics: Algorithms, Cables, Design, End effectors, Inertia (Mechanics), Particle swarm optimization, Weight (Mass), Kinematics, Robots, Optimization
Journal Articles

Task-Oriented Methodology Combining Human Manual Gestures and Robotic Grasp Stability Analyses: Application to the Specification of Dexterous Robotic Grippers

Jonatan Martin Escorcia-Hernandez, Mathieu Grossard, Florian Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2023, 145(4): 041408.
Paper No: MD-22-1322
https://doi.org/10.1115/1.4056493
Published Online: January 10, 2023
View Article titled, Task-Oriented Methodology Combining Human Manual Gestures and Robotic Grasp Stability Analyses: Application to the Specification of Dexterous Robotic Grippers
Open the PDF for Task-Oriented Methodology Combining Human Manual Gestures and Robotic Grasp Stability Analyses: Application to the Specification of Dexterous Robotic Grippers in another window
Topics: Design, End effectors, Grippers, Stability, Testing, Optimization, Robotics, Tactile sensors, Needles, Kinematics
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

Development and Validation of an End-Effector for Mitigation of Collisions

Domenico Tommasino, Matteo Bottin, Giulio Cipriani, Alberto Doria, Giulio Rosati
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2022, 144(4): 043301.
Paper No: MD-21-1341
https://doi.org/10.1115/1.4052443
Published Online: November 9, 2021
View Article titled, Development and Validation of an End-Effector for Mitigation of Collisions
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Topics: Collisions (Physics), End effectors, Robots
Journal Articles

Fault-Tolerant Control of Programmable Logic Controller-Based Production Systems With Deep Reinforcement Learning

Jonas Zinn, Birgit Vogel-Heuser, Marius Gruber
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2021, 143(7): 072004.
Paper No: MD-20-1650
https://doi.org/10.1115/1.4050624
Published Online: April 8, 2021
View Article titled, Fault-Tolerant Control of Programmable Logic Controller-Based Production Systems With Deep Reinforcement Learning
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Topics: Actuators, Algorithms, Cranes, Manufacturing systems, Reinforcement learning, Simulation, Space, Control equipment, Sensors, Multi-agent systems
Journal Articles

Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines

Sen Qian, Kunlong Bao, Bin Zi, W. D. Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2020, 142(7): 073301.
Paper No: MD-19-1512
https://doi.org/10.1115/1.4045723
Published Online: February 14, 2020
View Article titled, Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines
Open the PDF for Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines in another window
Topics: B-splines, Cables, Degrees of freedom, End effectors, Robots, Trajectories (Physics), Kinematics, Tension
Journal Articles

Kinematic Reliability Analysis of Robotic Manipulator

Dequan Zhang, Xu Han
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. April 2020, 142(4): 044502.
Paper No: MD-19-1204
https://doi.org/10.1115/1.4044436
Published Online: November 4, 2019
View Article titled, Kinematic Reliability Analysis of Robotic Manipulator
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Topics: End effectors, Errors, Event history analysis, Kinematics, Manipulators, Probability, Reliability
Journal Articles

Singularity Analysis on a Special Class of Cable-Suspended Parallel Mechanisms With Pairwise Cable Arrangement and Actuation Redundancy

Lewei Tang, Pengshuai Shi, Li Wu, Xiaoyu Wu, Xiaoqiang Tang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. February 2020, 142(2): 024501.
Paper No: MD-19-1024
https://doi.org/10.1115/1.4043937
Published Online: October 16, 2019
View Article titled, Singularity Analysis on a Special Class of Cable-Suspended Parallel Mechanisms With Pairwise Cable Arrangement and Actuation Redundancy
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Topics: Cables, End effectors, Redundancy (Engineering), Parallel mechanisms
Journal Articles

Simultaneous Shape and Topology Optimization of Planar Linkage Mechanisms Based on the Spring-Connected Rigid Block Model

Jeonghan Yu, Sang Min Han, Yoon Young Kim
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2020, 142(1): 011401.
Paper No: MD-19-1077
https://doi.org/10.1115/1.4044327
Published Online: September 30, 2019
View Article titled, Simultaneous Shape and Topology Optimization of Planar Linkage Mechanisms Based on the Spring-Connected Rigid Block Model
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Topics: Linkages, Optimization, Shapes, Springs, Topology, Design, End effectors, Trajectories (Physics)
Journal Articles

Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots

Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2019, 141(9): 092305.
Paper No: MD-18-1547
https://doi.org/10.1115/1.4043932
Published Online: July 19, 2019
View Article titled, Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots
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Topics: Actuators, Failure, Jacobian matrices, Robots, Robotics, Cables, End effectors, Grasping, Optimization
Journal Articles

A New Type of Planar Two Degree-of-Freedom Remote Center-of-Motion Mechanism Inspired by the Peaucellier–Lipkin Straight-Line Linkage

Genliang Chen, Jiepeng Wang, Hao Wang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. January 2019, 141(1): 015001.
Paper No: MD-18-1203
https://doi.org/10.1115/1.4041221
Published Online: October 8, 2018
View Article titled, A New Type of Planar Two Degree-of-Freedom Remote Center-of-Motion Mechanism Inspired by the Peaucellier–Lipkin Straight-Line Linkage
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Topics: Degrees of freedom, End effectors, Engineering prototypes, Kinematics, Linkages, Surgery
Journal Articles

Thumb Configuration and Performance Evaluation for Dexterous Robotic Hand Design

Hairong Wang, Shaowei Fan, Hong Liu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. January 2017, 139(1): 012304.
Paper No: MD-16-1208
https://doi.org/10.1115/1.4034837
Published Online: November 11, 2016
View Article titled, Thumb Configuration and Performance Evaluation for Dexterous Robotic Hand Design
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Topics: Design, End effectors, Performance evaluation, Robots, Kinematics
Journal Articles

An Experimental Investigation of Digging Via Localized Fluidization, Tested With RoboClam: A Robot Inspired by Atlantic Razor Clams

Monica Isava, Amos G. Winter V
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. December 2016, 138(12): 125001.
Paper No: MD-15-1684
https://doi.org/10.1115/1.4034218
Published Online: September 14, 2016
View Article titled, An Experimental Investigation of Digging Via Localized Fluidization, Tested With RoboClam: A Robot Inspired by Atlantic Razor Clams
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Topics: Atlantic Ocean, Design, Fluidization, Robots, Soil, Valves, End effectors, Fluids
Journal Articles

Type Synthesis for Remote Center of Motion Mechanisms Based on Coupled Motion of Two Degrees-of-Freedom

Yucheng He, Peng Zhang, Haiyang Jin, Ying Hu, Jianwei Zhang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. December 2016, 138(12): 122301.
Paper No: MD-16-1096
https://doi.org/10.1115/1.4034301
Published Online: September 13, 2016
View Article titled, Type Synthesis for Remote Center of Motion Mechanisms Based on Coupled Motion of Two Degrees-of-Freedom
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Topics: Design, Engineering prototypes, Robots, Rotation, Friction, Surgery, End effectors, Degrees of freedom
Journal Articles

An Optimization Approach to Teleoperation of the Thumb of a Humanoid Robot Hand: Kinematic Mapping and Calibration

Lei Cui, Ugo Cupcic, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2014, 136(9): 091005.
Paper No: MD-13-1483
https://doi.org/10.1115/1.4027759
Published Online: June 13, 2014
View Article titled, An Optimization Approach to Teleoperation of the Thumb of a Humanoid Robot Hand: Kinematic Mapping and Calibration
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Topics: Calibration, Kinematics, Optimization, Robotics, Sensors, Shades and shadows, End effectors, Hardware, Robots, Computers
Journal Articles

A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes

Jianmin Li, Guokai Zhang, Andreas Müller, Shuxin Wang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2013, 135(9): 091009.
Paper No: MD-12-1410
https://doi.org/10.1115/1.4024848
Published Online: July 15, 2013
View Article titled, A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
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Topics: End effectors, Kinematics, Rotation, Surgery, Robots, Screws, Bifurcation, Kinematic chains, Design, Design methodology
Journal Articles

Assessing Position Error Due to Clearances and Deformations of Links in Parallel Manipulators

Jokin Aginaga, Oscar Altuzarra, Erik Macho, Xabier Iriarte
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. April 2013, 135(4): 041006.
Paper No: MD-12-1187
https://doi.org/10.1115/1.4023633
Published Online: March 26, 2013
View Article titled, Assessing Position Error Due to Clearances and Deformations of Links in Parallel Manipulators
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Topics: Clearances (Engineering), Deformation, Errors, Manipulators, Stress, Trajectories (Physics), End effectors