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Journal Articles

Bio-Inspired Topology Optimization Framework for Flexible Robotic Grippers

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Accepted Manuscript
Honglei Liu, Wenjie Su, Baotong Li, Jun Hong
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des.
Paper No: MD-24-1735
https://doi.org/10.1115/1.4068552
Published Online: April 30, 2025
View Articletitled, Bio-Inspired Topology Optimization Framework for Flexible Robotic Grippers
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Topics: Bio-inspired design, Biomimetics, Design, End effectors, Topology optimization
Journal Articles

A Variable Stiffness Soft Robotic Hand Featuring Ball-Jointed Skeleton Coupled With Particles

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Xiulu Liu, Lekang Lin, Zirui Song, Jiale Li, Liqiang Xu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083305.
Paper No: MD-24-1702
https://doi.org/10.1115/1.4067868
Published Online: February 26, 2025
View Articletitled, A Variable Stiffness Soft Robotic Hand Featuring Ball-Jointed Skeleton Coupled With Particles
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Topics: Particulate matter, Stiffness, End effectors, Grasping, Design
Journal Articles

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

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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 Articletitled, Print-N-Grip: A Disposable, Compliant, Scalable, and One-Shot 3D-Printed Multifingered Robotic Hand
Open the PDF for Print-N-Grip: A Disposable, Compliant, Scalable, and One-Shot 3D-Printed Multifingered Robotic Hand in another window
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

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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 Articletitled, An Integrated Kinematic Mapping and Fourier Method to Design Spherical Coupled Serial Chain Mechanisms for Single-Joint Rehabilitation
Open the PDF for An Integrated Kinematic Mapping and Fourier Method to Design Spherical Coupled Serial Chain Mechanisms for Single-Joint Rehabilitation in another window
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

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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 Articletitled, 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

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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 Articletitled, Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm
Open the PDF for Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm in another window
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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, Singularity Analysis on a Special Class of Cable-Suspended Parallel Mechanisms With Pairwise Cable Arrangement and Actuation Redundancy
Open the PDF for Singularity Analysis on a Special Class of Cable-Suspended Parallel Mechanisms With Pairwise Cable Arrangement and Actuation Redundancy in another window
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

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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 Articletitled, Simultaneous Shape and Topology Optimization of Planar Linkage Mechanisms Based on the Spring-Connected Rigid Block Model
Open the PDF for Simultaneous Shape and Topology Optimization of Planar Linkage Mechanisms Based on the Spring-Connected Rigid Block Model in another window
Topics: Linkages, Optimization, Shapes, Springs, Topology, Design, End effectors, Trajectories (Physics)
Journal Articles

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

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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 Articletitled, 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

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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 Articletitled, A New Type of Planar Two Degree-of-Freedom Remote Center-of-Motion Mechanism Inspired by the Peaucellier–Lipkin Straight-Line Linkage
Open the PDF for A New Type of Planar Two Degree-of-Freedom Remote Center-of-Motion Mechanism Inspired by the Peaucellier–Lipkin Straight-Line Linkage in another window
Topics: Degrees of freedom, End effectors, Engineering prototypes, Kinematics, Linkages, Surgery
Journal Articles

Thumb Configuration and Performance Evaluation for Dexterous Robotic Hand Design

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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 Articletitled, 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

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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 Articletitled, An Experimental Investigation of Digging Via Localized Fluidization, Tested With RoboClam: A Robot Inspired by Atlantic Razor Clams
Open the PDF for An Experimental Investigation of Digging Via Localized Fluidization, Tested With RoboClam: A Robot Inspired by Atlantic Razor Clams in another window
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

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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 Articletitled, 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

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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 Articletitled, 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