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Journal Articles

Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations

Koen Dwarshuis, Ronald Aarts, Marcel Ellenbroek, Dannis Brouwer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021011.
Paper No: JMR-21-1106
https://doi.org/10.1115/1.4054730
Published Online: June 23, 2022
View Article titled, Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations
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Topics: Bending (Stress), Computation, Deformation, Design, Stiffness, Dimensions, Errors, Stress, Approximation
Journal Articles

Deployable Euler Spiral Connectors

Collin Ynchausti, Nathan Brown, Spencer P. Magleby, Anton E. Bowden, Larry L. Howell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021003.
Paper No: JMR-20-1474
https://doi.org/10.1115/1.4052319
Published Online: September 20, 2021
View Article titled, Deployable Euler Spiral Connectors
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Topics: Bending (Stress), Deflection, Design, Finite element analysis, Spinal fusion, Stress, Compliant mechanisms, Approximation
Journal Articles

Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study

Francisco Yandun, Miguel Torres-Torriti, Fernando Auat Cheein
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050902.
Paper No: JMR-21-1027
https://doi.org/10.1115/1.4051016
Published Online: May 17, 2021
View Article titled, Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study
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Topics: Algorithms, Calibration, Chain, Errors, Kinematics, Mobile robots, Parameter estimation, Robot motion, Robots, Sensors
Journal Articles

Constructing Rigid-Foldable Generalized Miura-Ori Tessellations for Curved Surfaces

Yucai Hu, Yexin Zhou, Haiyi Liang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011017.
Paper No: JMR-19-1365
https://doi.org/10.1115/1.4048630
Published Online: November 13, 2020
View Article titled, Constructing Rigid-Foldable Generalized Miura-Ori Tessellations for Curved Surfaces
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Topics: Airfoils, Construction, Design, Optimization, Degrees of freedom, Approximation
Journal Articles

Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming

Wankun Sirichotiyakul, Volkan Patoglu, Aykut C. Satici
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061004.
Paper No: JMR-19-1546
https://doi.org/10.1115/1.4046997
Published Online: May 11, 2020
View Article titled, Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming
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Topics: Approximation, Computer programming, Kinematics, Manipulators, Optimization, Polynomials, End effectors, Parallel mechanisms, Silicon-on-sapphire
Journal Articles

Design, Construction, and Control of Curves and Surfaces via Deployable Mechanisms

Vishal Ramadoss, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi, Shengnan Lyu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 061008.
Paper No: JMR-19-1064
https://doi.org/10.1115/1.4044734
Published Online: October 9, 2019
View Article titled, Design, Construction, and Control of Curves and Surfaces via Deployable Mechanisms
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Topics: Approximation, Construction, Design, Linkages, Shapes, Simulation
Journal Articles

A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages

Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020910.
Paper No: JMR-18-1379
https://doi.org/10.1115/1.4042545
Published Online: February 22, 2019
View Article titled, A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages
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Topics: Approximation, Geometry, Kinematics, Linkages, Screws, Algebra
Journal Articles

Gauss Map Based Curved Origami Discretization

Liping Zhang, Guibing Pang, Lu Bai, Tian Ji
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011006.
Paper No: JMR-17-1325
https://doi.org/10.1115/1.4041631
Published Online: November 13, 2018
View Article titled, Gauss Map Based Curved Origami Discretization
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Topics: Approximation, Error analysis, Errors, Design, Geometry, Shapes
Journal Articles

Development of n -DoF Preloaded Structures for Impact Mitigation in Cobots

S. Seriani, P. Gallina, L. Scalera, V. Lughi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051009.
Paper No: JMR-17-1395
https://doi.org/10.1115/1.4040632
Published Online: July 18, 2018
View Article titled, Development of n -DoF Preloaded Structures for Impact Mitigation in Cobots
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Topics: Approximation, Cables, Collisions (Physics), Engineering prototypes, Errors, Robotics, Robots, Springs, Stiffness, Elasticity
Journal Articles

A General Approach to the Large Deflection Problems of Spatial Flexible Rods Using Principal Axes Decomposition of Compliance Matrices

Genliang Chen, Zhuang Zhang, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031012.
Paper No: JMR-17-1331
https://doi.org/10.1115/1.4039223
Published Online: April 5, 2018
View Article titled, A General Approach to the Large Deflection Problems of Spatial Flexible Rods Using Principal Axes Decomposition of Compliance Matrices
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Topics: Deflection, Equilibrium (Physics), Rods, Stiffness, Compliant mechanisms, Stress, Approximation, Modeling
Journal Articles

Local Analysis of Helicoid–Helicoid Intersections in Reconfigurable Linkages

P. C. López-Custodio, J. M. Rico, J. J. Cervantes-Sánchez
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031008.
Paper No: JMR-16-1245
https://doi.org/10.1115/1.4035682
Published Online: March 22, 2017
View Article titled, Local Analysis of Helicoid–Helicoid Intersections in Reconfigurable Linkages
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Topics: Bifurcation, Linkages, Kinematics, Approximation
Journal Articles

Design, Fabrication, and Modeling of an Electric–Magnetic Self-Folding Sheet

Landen Bowen, Kara Springsteen, Saad Ahmed, Erika Arrojado, Mary Frecker, Timothy W. Simpson, Zoubeida Ounaies, Paris von Lockette
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021012.
Paper No: JMR-16-1315
https://doi.org/10.1115/1.4035966
Published Online: March 9, 2017
View Article titled, Design, Fabrication, and Modeling of an Electric–Magnetic Self-Folding Sheet
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Topics: Actuators, Approximation, Design, Dynamic models, Manufacturing, Modeling, Plasma desorption mass spectrometry, Stiffness, Dynamic modeling, Active materials
Journal Articles

A Fourier Descriptor-Based Approach to Design Space Decomposition for Planar Motion Approximation

Xiangyun Li, Jun Wu, Q. J. Ge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2016, 8(6): 064501.
Paper No: JMR-15-1349
https://doi.org/10.1115/1.4033528
Published Online: September 6, 2016
View Article titled, A Fourier Descriptor-Based Approach to Design Space Decomposition for Planar Motion Approximation
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Topics: Approximation, Design, Fittings, Linkages, Rotation, Algorithms, Errors, Curve fitting
Journal Articles

Planar Linkage Synthesis for Mixed Exact and Approximated Motion Realization Via Kinematic Mapping

Ping Zhao, Xin Ge, Bin Zi, Q. J. Ge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051004.
Paper No: JMR-15-1249
https://doi.org/10.1115/1.4032212
Published Online: May 4, 2016
View Article titled, Planar Linkage Synthesis for Mixed Exact and Approximated Motion Realization Via Kinematic Mapping
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Topics: Approximation, Dimensions, Kinematics, Linkages, Algebra, Surface fitting, Fittings
Journal Articles

Trade Space Exploration of Magnetically Actuated Origami Mechanisms

Landen Bowen, Kara Springsteen, Mary Frecker, Timothy Simpson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2016, 8(3): 031012.
Paper No: JMR-15-1184
https://doi.org/10.1115/1.4032406
Published Online: March 7, 2016
View Article titled, Trade Space Exploration of Magnetically Actuated Origami Mechanisms
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Topics: Active materials, Approximation, Design, Dynamic models, Errors, Magnetic materials, Shapes, Torque, Stiffness
Journal Articles

An Emulator-Based Prediction of Dynamic Stiffness for Redundant Parallel Kinematic Mechanisms

Mario Luces, Pinar Boyraz, Masih Mahmoodi, Farhad Keramati, James K. Mills, Beno Benhabib
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021021.
Paper No: JMR-15-1208
https://doi.org/10.1115/1.4031858
Published Online: November 24, 2015
View Article titled, An Emulator-Based Prediction of Dynamic Stiffness for Redundant Parallel Kinematic Mechanisms
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Topics: Approximation, Displacement, Finite element analysis, Stiffness, Kinematics, Optimization
Journal Articles

A Polynomial Formulation of Inverse Kinematics of Rolling Contact

Lei Cui, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041003.
Paper No: JMR-13-1116
https://doi.org/10.1115/1.4029498
Published Online: November 1, 2015
View Article titled, A Polynomial Formulation of Inverse Kinematics of Rolling Contact
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Topics: Kinematics, Polynomials, Rolling contact, Rotation, Geometry, Torsion, Approximation, Particle spin, Spin (Aerodynamics)
Journal Articles

Synthesis of Planar Mechanisms for Pick and Place Tasks With Guiding Positions

Pierre Larochelle
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2015, 7(3): 031009.
Paper No: JMR-13-1227
https://doi.org/10.1115/1.4028638
Published Online: August 1, 2015
View Article titled, Synthesis of Planar Mechanisms for Pick and Place Tasks With Guiding Positions
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Topics: Algorithms, Kinematics, Approximation, Construction, Chain
Journal Articles

Polar Decomposition of Unit Dual Quaternions

Anurag Purwar, Q. J. Ge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2013, 5(3): 031001.
Paper No: JMR-12-1016
https://doi.org/10.1115/1.4024236
Published Online: June 24, 2013
View Article titled, Polar Decomposition of Unit Dual Quaternions
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Topics: Algorithms, Displacement, Rotation, Approximation, Algebra, Errors
Journal Articles

Performance-Oriented Design of Inverse Kinematics Algorithms: Extended Jacobian Approximation of the Jacobian Pseudo-Inverse

Joanna Karpińska, Krzysztof Tchoń
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2012, 4(2): 021008.
https://doi.org/10.1115/1.4006192
Published Online: April 12, 2012
View Article titled, Performance-Oriented Design of Inverse Kinematics Algorithms: Extended Jacobian Approximation of the Jacobian Pseudo-Inverse
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Topics: Algorithms, Approximation, Jacobian matrices, Kinematics, Errors, Design, Manipulators