Volume 9 Issue 4 | J. Mechanisms Robotics

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Volume 9, Issue 4

August 2017

ISSN 1942-4302

EISSN 1942-4310

Research Papers

A Shape-Morphing Mechanism With Sliding Panels

Aaron Yu, Fengfeng (Jeff) Xi, Amin Moosavian

J. Mechanisms Robotics. August 2017, 9(4): 041001. doi: https://doi.org/10.1115/1.4036221

Abstract

View articletitled, A Shape-Morphing Mechanism With Sliding Panels

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Topics: Modeling , Rotation , Shapes , Simulation , Skin , Linkages , Design

A Novel Reconfigurable Gravity Balancer for Lower-Limb Rehabilitation With Switchable Hip/Knee-Only Exercise

Tzu-Yu Tseng, Yi-Jia Lin, Wei-Chun Hsu, Li-Fong Lin, Chin-Hsing Kuo

J. Mechanisms Robotics. August 2017, 9(4): 041002. doi: https://doi.org/10.1115/1.4036218

Abstract

View articletitled, A Novel Reconfigurable Gravity Balancer for Lower-Limb Rehabilitation With Switchable Hip/Knee-Only Exercise

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Topics: Gravity (Force) , Knee , Potential energy , Springs , Design , Muscle , Electromyography , Simulation

Performance Augmentation of Underactuated Fingers' Grasps Using Multiple Drive Actuation

Jean-Michel Boucher, Lionel Birglen

J. Mechanisms Robotics. August 2017, 9(4): 041003. doi: https://doi.org/10.1115/1.4036220

Abstract

View articletitled, Performance Augmentation of Underactuated Fingers' Grasps Using Multiple Drive Actuation

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Topics: Actuators , Degrees of freedom , Design , Grasping , Linkages , Optimization , Stiffness , Torque

A Line Geometric Approach to Kinematic Acquisition of Geometric Constraints of Planar Motion

Jun Wu, Xiangyun Li, Q. J. Ge, Feng Gao, Xueyin Liu

J. Mechanisms Robotics. August 2017, 9(4): 041004. doi: https://doi.org/10.1115/1.4036222

Abstract

View articletitled, A Line Geometric Approach to Kinematic Acquisition of Geometric Constraints of Planar Motion

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Topics: Kinematics , Trajectories (Physics) , Dimensions , Algorithms

A Low Profile Electromagnetic Actuator Design and Model for an Origami Parallel Platform

Marco Salerno, Amir Firouzeh, Jamie Paik

J. Mechanisms Robotics. August 2017, 9(4): 041005. doi: https://doi.org/10.1115/1.4036425

Abstract

View articletitled, A Low Profile Electromagnetic Actuator Design and Model for an Origami Parallel Platform

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Topics: Actuators , Design , Magnets , Manufacturing , Rails , Magnetic fields , Engineering prototypes

Building Block-Based Spatial Topology Synthesis Method for Large-Stroke Flexure Hinges

M. Naves, D. M. Brouwer, R. G. K. M. Aarts

J. Mechanisms Robotics. August 2017, 9(4): 041006. doi: https://doi.org/10.1115/1.4036223

Abstract

View articletitled, Building Block-Based Spatial Topology Synthesis Method for Large-Stroke Flexure Hinges

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Topics: Bending (Stress) , Blocks (Building materials) , Design , Hinges , Optimization , Shape optimization , Topology , Stiffness , Vibration , Deflection

Speeding Up Topology Optimization of Compliant Mechanisms With a Pseudorigid-Body Model

Venkatasubramanian Kalpathy Venkiteswaran, Omer Anil Turkkan, Hai-Jun Su

J. Mechanisms Robotics. August 2017, 9(4): 041007. doi: https://doi.org/10.1115/1.4035992

Abstract

View articletitled, Speeding Up Topology Optimization of Compliant Mechanisms With a Pseudorigid-Body Model

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Topics: Compliant mechanisms , Design , Optimization , Topology , Stress , Finite element analysis

Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy

Lingmin Xu, Qinchuan Li, Ningbin Zhang, Qiaohong Chen

J. Mechanisms Robotics. August 2017, 9(4): 041008. doi: https://doi.org/10.1115/1.4036517

Abstract

View articletitled, Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy

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Topics: Design , Kinematics , Manipulators , Mechanical admittance , Optimization , Displacement , Redundancy (Engineering) , Screws , Universal joints , Kinematic analysis

A Unified Approach for Second-Order Control of the Manipulator With Joint Physical Constraints

Pei Jiang, Shuihua Huang, Ji Xiang, Michael Z. Q. Chen

J. Mechanisms Robotics. August 2017, 9(4): 041009. doi: https://doi.org/10.1115/1.4036569

Abstract

View articletitled, A Unified Approach for Second-Order Control of the Manipulator With Joint Physical Constraints

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Topics: End effectors , Kinematics , Manipulators , Feedback , Redundant manipulators

Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots

Midhun S. Menon, V. C. Ravi, Ashitava Ghosal

J. Mechanisms Robotics. August 2017, 9(4): 041010. doi: https://doi.org/10.1115/1.4036571

Abstract

View articletitled, Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots

Supplementary data

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Topics: Algorithms , Robots , Path planning , Trajectories (Physics)

Motion Generation of Passive Slider Multiloop Wearable Hand Devices

Guan Rong Tan, Nina Patarinsky Robson, Gim Song Soh

J. Mechanisms Robotics. August 2017, 9(4): 041011. doi: https://doi.org/10.1115/1.4036611

Abstract

View articletitled, Motion Generation of Passive Slider Multiloop Wearable Hand Devices

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Topics: Chain , Design , Dimensions , Exoskeleton devices , Grasping , Linkages , Physiology , Rotation

Screw-Based Modeling of Soft Manipulators With Tendon and Fluidic Actuation

Federico Renda, Matteo Cianchetti, Haider Abidi, Jorge Dias, Lakmal Seneviratne

J. Mechanisms Robotics. August 2017, 9(4): 041012. doi: https://doi.org/10.1115/1.4036579

Abstract

View articletitled, Screw-Based Modeling of Soft Manipulators With Tendon and Fluidic Actuation

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Topics: Kinematics , Manipulators , Screws , Stress , Tendons , Steady state

Design and Development of a Two Degree-of-Freedom Rotational Flexure Mechanism for Precise Unbalance Measurements

Zhao Hongzhe, Ren Siyuan, Li Ming, Zhang Shuqing

J. Mechanisms Robotics. August 2017, 9(4): 041013. doi: https://doi.org/10.1115/1.4036610

Abstract

View articletitled, Design and Development of a Two Degree-of-Freedom Rotational Flexure Mechanism for Precise Unbalance Measurements

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Topics: Design , Flexure mechanisms , Stiffness , Springs , Degrees of freedom , Finite element analysis

A High Performance Voice Coil Actuator for Optomechatronic Applications

Dion Hicks, Taufiq Rahman, Nicholas Krouglicof

J. Mechanisms Robotics. August 2017, 9(4): 041014. doi: https://doi.org/10.1115/1.4035879

Abstract

View articletitled, A High Performance Voice Coil Actuator for Optomechatronic Applications

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Topics: Actuators , Design , Electronics , Feedback

A New Approach to the Generation of Retractable Plate Structures Based on One-Uniform Tessellations

Aylin Gazi Gezgin, Koray Korkmaz

J. Mechanisms Robotics. August 2017, 9(4): 041015. doi: https://doi.org/10.1115/1.4036570

Abstract

View articletitled, A New Approach to the Generation of Retractable Plate Structures Based on One-Uniform Tessellations

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Topics: Plates (structures) , Reactor protection systems

Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing

João Cavacanti Santos, Maíra Martins da Silva

J. Mechanisms Robotics. August 2017, 9(4): 041016. doi: https://doi.org/10.1115/1.4036739

Abstract

View articletitled, Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing

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Topics: Dynamic programming , Kinematics , Manipulators , Optimization , Redundancy (Engineering) , Redundant manipulators , Resolution (Optics) , Actuators , Trajectories (Physics) , Jacobian matrices

An Approach for Computing the Transmission Index of Full Mobility Planar Multiloop Mechanisms

Xingwei Zhao, Haitao Liu, Huafeng Ding, Lu Qian

J. Mechanisms Robotics. August 2017, 9(4): 041017. doi: https://doi.org/10.1115/1.4036718

Abstract

View articletitled, An Approach for Computing the Transmission Index of Full Mobility Planar Multiloop Mechanisms

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Topics: Mechanical admittance

Nonrigidly Foldability Analysis of Kresling Cylindrical Origami

Cai Jianguo, Liu Yangqing, Ma Ruijun, Feng Jian, Zhou Ya

J. Mechanisms Robotics. August 2017, 9(4): 041018. doi: https://doi.org/10.1115/1.4036738

Abstract

View articletitled, Nonrigidly Foldability Analysis of Kresling Cylindrical Origami

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Topics: Cylinders , Kinematics , Rotation , Machinery , Design

A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

Anzhu Gao, Yun Zou, Zhidong Wang, Hao Liu

J. Mechanisms Robotics. August 2017, 9(4): 041019. doi: https://doi.org/10.1115/1.4036719

Abstract

View articletitled, A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

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Topics: Friction , Tendons , Tension , Deflection , Shapes , Manipulators

Technical Brief

Solution Region Synthesis Methodology of Spatial 5-SS Linkages for Six Given Positions

Jianyou Han, Guangzhen Cui

J. Mechanisms Robotics. August 2017, 9(4): 044501. doi: https://doi.org/10.1115/1.4036219

Abstract

View articletitled, Solution Region Synthesis Methodology of Spatial 5-SS Linkages for Six Given Positions

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Topics: Linkages , End effectors

Compact Arrangements of Cable-Pulley Type Zero-Free-Length Springs

Yu-Heng Ou, Dar-Zen Chen

J. Mechanisms Robotics. August 2017, 9(4): 044502. doi: https://doi.org/10.1115/1.4036515

Abstract

View articletitled, Compact Arrangements of Cable-Pulley Type Zero-Free-Length Springs

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Topics: Springs , Winding (process)

Design and Performance Analysis of Double C-Type Flexure Hinges

Lifang Qiu, Gang Huang, Siqi Yin

J. Mechanisms Robotics. August 2017, 9(4): 044503. doi: https://doi.org/10.1115/1.4036609

Abstract

View articletitled, Design and Performance Analysis of Double C-Type Flexure Hinges

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Topics: Bending (Stress) , Design , Hinges , Stiffness

Errata

Erratum: “A Four Degree of Freedom Robot for Positioning Ultrasound Imaging Catheters” [J. Mechanisms Robotics 8(5), 051016 (May 04, 2016); DOI: 10.1115/1.4032249]

Paul M. Loschak, Alperen Degirmenci, Yaroslav Tenzer, Cory M. Tschabrunn, Elad Anter, Robert D. Howe

J. Mechanisms Robotics. August 2017, 9(4): 047001. doi: https://doi.org/10.1115/1.4036457

Extract

View articletitled, Erratum: “A Four Degree of Freedom Robot for Positioning Ultrasound Imaging Catheters” [J. Mechanisms Robotics 8(5), 051016 (May 04, 2016); DOI: 10.1115/1.4032249]

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Topics: Catheters , Degrees of freedom , Robotics , Robots , Ultrasonic imaging , Design , Biomedicine

Research Papers

A Shape-Morphing Mechanism With Sliding Panels

A Novel Reconfigurable Gravity Balancer for Lower-Limb Rehabilitation With Switchable Hip/Knee-Only Exercise

Performance Augmentation of Underactuated Fingers' Grasps Using Multiple Drive Actuation

A Line Geometric Approach to Kinematic Acquisition of Geometric Constraints of Planar Motion

A Low Profile Electromagnetic Actuator Design and Model for an Origami Parallel Platform

Building Block-Based Spatial Topology Synthesis Method for Large-Stroke Flexure Hinges

Speeding Up Topology Optimization of Compliant Mechanisms With a Pseudorigid-Body Model

Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy

A Unified Approach for Second-Order Control of the Manipulator With Joint Physical Constraints

Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots

Motion Generation of Passive Slider Multiloop Wearable Hand Devices

Screw-Based Modeling of Soft Manipulators With Tendon and Fluidic Actuation

Design and Development of a Two Degree-of-Freedom Rotational Flexure Mechanism for Precise Unbalance Measurements

A High Performance Voice Coil Actuator for Optomechatronic Applications

A New Approach to the Generation of Retractable Plate Structures Based on One-Uniform Tessellations

Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing

An Approach for Computing the Transmission Index of Full Mobility Planar Multiloop Mechanisms

Nonrigidly Foldability Analysis of Kresling Cylindrical Origami

A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

Technical Brief

Solution Region Synthesis Methodology of Spatial 5-SS Linkages for Six Given Positions

Compact Arrangements of Cable-Pulley Type Zero-Free-Length Springs

Design and Performance Analysis of Double C-Type Flexure Hinges

Errata

Erratum: “A Four Degree of Freedom Robot for Positioning Ultrasound Imaging Catheters” [J. Mechanisms Robotics 8(5), 051016 (May 04, 2016); DOI: 10.1115/1.4032249]

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