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Journal Articles

Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism

Yangyang Huang, Jinzhu Zhang, Xiaoyan Xiong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071012.
Paper No: JMR-23-1351
https://doi.org/10.1115/1.4063670
Published Online: November 14, 2023
View Article titled, Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism
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Topics: Dynamic modeling, Dynamic models, Dynamics (Mechanics), Inertia (Mechanics), Manipulators, Performance evaluation, Pulse width modulation, Trajectories (Physics), Kinematics, Engineering prototypes
Journal Articles

Redundant Serial Manipulator Inverse Position Kinematics and Dynamics

Accepted Manuscript
Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1364
https://doi.org/10.1115/1.4064047
Published Online: November 10, 2023
View Article titled, Redundant Serial Manipulator Inverse Position Kinematics and Dynamics
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Multibody dynamics
Journal Articles

PhyNRnet: Physics-informed Newton-Raphson Network for Forward Kinematics Solution of Parallel Manipulators

Accepted Manuscript
Chongjian He, Wei Guo, Yanxia Zhu, Lizhong Jiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1334
https://doi.org/10.1115/1.4063977
Published Online: November 2, 2023
View Article titled, PhyNRnet: Physics-informed Newton-Raphson Network for Forward Kinematics Solution of Parallel Manipulators
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Topics: Kinematics, Manipulators, Physics
Journal Articles

Design, Performance Analysis, and Experiments of a Soft Robot for Rescue

Tao Wen, Junfeng Hu, Jun Zhang, Xian Li, Sheng Kang, Ning Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071011.
Paper No: JMR-23-1254
https://doi.org/10.1115/1.4063669
Published Online: October 20, 2023
View Article titled, Design, Performance Analysis, and Experiments of a Soft Robot for Rescue
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Topics: Design, Manipulators, Robots, Soft robots, Stiffness
Journal Articles

Exploiting the Kinematic Redundancy of a (6 + 3)-Degree-of-Freedom Parallel Manipulator to Produce Unlimited Rotation of the Platform

Arda Yiğit, David Breton, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071004.
Paper No: JMR-22-1624
https://doi.org/10.1115/1.4063407
Published Online: October 16, 2023
View Article titled, Exploiting the Kinematic Redundancy of a (6 + 3)-Degree-of-Freedom Parallel Manipulator to Produce Unlimited Rotation of the Platform
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Topics: Design, Kinematics, Redundancy (Engineering), Robots, Rotation, Path planning, Manipulators
Journal Articles

Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction

Yongfeng Rong, Wusheng Chou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071001.
Paper No: JMR-23-1182
https://doi.org/10.1115/1.4063368
Published Online: October 13, 2023
View Article titled, Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction
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Topics: Design, Dynamics (Mechanics), Manipulators, Control equipment, Unmanned aerial vehicles, Actuators
Journal Articles

Analysis and Validation of a Flexible Limb/Cable Hybrid-Driven Parallel Continuum Manipulator

Yezheng Kang, Zhenkun Liang, Tianyi Yan, Xuyang Duan, Hao Wang, Joachim Seidelmann, Genliang Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061010.
Paper No: JMR-23-1122
https://doi.org/10.1115/1.4063289
Published Online: October 4, 2023
View Article titled, Analysis and Validation of a Flexible Limb/Cable Hybrid-Driven Parallel Continuum Manipulator
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Topics: Cables, End effectors, Kinematics, Manipulators, Stress, Modeling, Engineering prototypes, Robots
Journal Articles

A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061005.
Paper No: JMR-23-1245
https://doi.org/10.1115/1.4063038
Published Online: August 16, 2023
View Article titled, A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics
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Topics: Kinematics, Manifolds, Manipulators, Redundant manipulators
Journal Articles

A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments

Samson A. Adejokun, Panos S. Shiakolas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021012.
Paper No: JMR-22-1550
https://doi.org/10.1115/1.4062762
Published Online: July 25, 2023
View Article titled, A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments
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Topics: Kinematics, Manipulators, Robots, Tension, Biological tissues, Tendons, Modeling, Design, Robotics
Journal Articles

Visual-Biased Observability Index for Camera-Based Robot Calibration

Shouhei Shirafuji, Hiroki Goto, Xiaotian Zhang, Keiji Okuhara, Noritaka Takamura, Naoya Kagawa, Hiroyasu Baba, Jun Ota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051010.
Paper No: JMR-23-1022
https://doi.org/10.1115/1.4062801
Published Online: July 20, 2023
View Article titled, Visual-Biased Observability Index for Camera-Based Robot Calibration
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Topics: Calibration, Kinematics, Robots, End effectors, Errors, Manipulators
Journal Articles

Inverse Kinematics Solution Method of an Adaptive Piecewise Geometry for Cable-Driven Hyper-Redundant Manipulator

Qiang Yang, Qinghua Zhou, Guangwu Zhou, Ming Jiang, Zhijun Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041011.
Paper No: JMR-22-1649
https://doi.org/10.1115/1.4062606
Published Online: June 9, 2023
View Article titled, Inverse Kinematics Solution Method of an Adaptive Piecewise Geometry for Cable-Driven Hyper-Redundant Manipulator
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Topics: Cables, Geometry, Kinematics, Manipulators
Journal Articles

Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces

Lingmin Xu, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051001.
Paper No: JMR-23-1010
https://doi.org/10.1115/1.4062607
Published Online: June 9, 2023
View Article titled, Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces
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Topics: Kinematics, Machining, Manipulators, Robots, Design, Stiffness, Mechanical admittance, Optimization, Performance evaluation
Journal Articles

Dual Quaternions Representation of Lagrange's Dynamic Equations

Avraham Cohen, Benjamin Taub, Moshe Shoham
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041004.
Paper No: JMR-22-1244
https://doi.org/10.1115/1.4062463
Published Online: June 5, 2023
View Article titled, Dual Quaternions Representation of Lagrange's Dynamic Equations
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Topics: Energy dissipation, Equations of motion, Manipulators, Robots, Damping, Dynamics (Mechanics)
Journal Articles

Kinematic Modeling and Open-Loop Control of a Twisted String Actuator-Driven Soft Robotic Manipulator

Revanth Konda, David Bombara, Ember Chow, Jun Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041007.
Paper No: JMR-22-1603
https://doi.org/10.1115/1.4062466
Published Online: June 5, 2023
View Article titled, Kinematic Modeling and Open-Loop Control of a Twisted String Actuator-Driven Soft Robotic Manipulator
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Topics: Actuators, Kinematics, Manipulators, Motors, String, Modeling
Journal Articles

A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators

Ziying Lin, Lingmin Xu, Ye Ding, Xiangyang Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041016.
Paper No: JMR-22-1382
https://doi.org/10.1115/1.4062304
Published Online: May 2, 2023
View Article titled, A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators
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Topics: Design, Kinematics, Manipulators, Redundancy (Engineering), Stiffness, Actuators, Linkages, Mechanical admittance, Optimization
Journal Articles

Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section

Christian DeBuys, Florin C. Ghesu, Jagadeesan Jayender, Reza Langari, Young-Ho Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061019.
Paper No: JMR-22-1604
https://doi.org/10.1115/1.4062354
Published Online: May 2, 2023
View Article titled, Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section
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Topics: Errors, Kinematics, Manipulators, Tendons, Tension, Robots, Design
Journal Articles

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Vimalesh Muralidharan, Nicolas Testard, Christine Chevallereau, Anick Abourachid, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035002.
Paper No: JMR-22-1185
https://doi.org/10.1115/1.4062302
Published Online: April 27, 2023
View Article titled, Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck
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Topics: Cables, Manipulators, Stiffness, Equilibrium (Physics), Springs
Journal Articles

Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices

Shuangshuang Zhang, Linsong Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041001.
Paper No: JMR-22-1513
https://doi.org/10.1115/1.4062134
Published Online: April 12, 2023
View Article titled, Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices
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Topics: Deformation, Manipulators, Modeling, Stiffness, Stress, Parallel mechanisms, Kinematics
Journal Articles

Design of Decoupled and Dynamically Isotropic Parallel Manipulators Considering Five Degrees-of-Freedom

Yogesh Pratap Singh, Nazeer Ahmad, Ashitava Ghosal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011009.
Paper No: JMR-22-1492
https://doi.org/10.1115/1.4062176
Published Online: April 10, 2023
View Article titled, Design of Decoupled and Dynamically Isotropic Parallel Manipulators Considering Five Degrees-of-Freedom
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Topics: Design, Manipulators, Isotropy, Degrees of freedom
Journal Articles

Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop

Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031008.
Paper No: JMR-22-1128
https://doi.org/10.1115/1.4062212
Published Online: April 10, 2023
View Article titled, Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
Open the PDF for Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop in another window
Topics: Control equipment, Degrees of freedom, Design, Dynamics (Mechanics), Feedforward control, Manipulators, Muscle, Pressure, Robots, Valves