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Journal Articles

Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot

Qi Yang, Xinyu Liu, Ze Yu, Binbin Lian, Tao Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061011.
Paper No: JMR-23-1266
https://doi.org/10.1115/1.4063290
Published Online: October 4, 2023
View Article titled, Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot
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Topics: Cables, Friction, Kinematics, Robots, Optimization, Modeling, Displacement, Stiffness, Tensegrity, Mobile robots
Journal Articles

Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand

Yen-Hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Zhongtao Fu, Shuangjia Xu, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051018.
Paper No: JMR-21-1754
https://doi.org/10.1115/1.4062238
Published Online: May 2, 2023
View Article titled, Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand
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Topics: Friction, Design, Robotics, End effectors
Journal Articles

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms

Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021001.
Paper No: JMR-22-1290
https://doi.org/10.1115/1.4056600
Published Online: March 3, 2023
View Article titled, Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
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Topics: Design, Springs, Torque, Wire, Degrees of freedom, Friction, Cams
Journal Articles

Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes

Tomasz Piatkowski
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061009.
Paper No: JMR-22-1315
https://doi.org/10.1115/1.4056380
Published Online: January 18, 2023
View Article titled, Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes
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Topics: Conveyor systems, Friction, Rollers
Journal Articles

On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm

Jean-Michel Boisclair, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051001.
Paper No: JMR-22-1043
https://doi.org/10.1115/1.4055605
Published Online: November 24, 2022
View Article titled, On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm
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Topics: Artificial limbs, Deformation, Design, Grasping, Rolling contact, Optimization, Cables, Pinch effect, Friction, Prostheses
Journal Articles

Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand

Côme Butin, Damien Chablat, Yannick Aoustin, David Gouaillier
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011003.
Paper No: JMR-21-1738
https://doi.org/10.1115/1.4054273
Published Online: April 25, 2022
View Article titled, Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand
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Topics: Springs, Stress, Torque, Friction, Grasping, Design, Prostheses, Artificial limbs, Motors
Journal Articles

Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects

Rajesh Kumar, Sudipto Mukherjee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021005.
Paper No: JMR-21-1189
https://doi.org/10.1115/1.4052323
Published Online: September 21, 2021
View Article titled, Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects
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Topics: Algorithms, End effectors, Friction, Grasping, Robotics, Rotation, Simulation, Kinematics, Robots, Fixturing
Journal Articles

Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck

Benjamin Fasquelle, Parag Khanna, Christine Chevallereau, Damien Chablat, Denis Creusot, Stéphane Jolivet, Philippe Lemoine, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011005.
Paper No: JMR-21-1108
https://doi.org/10.1115/1.4051521
Published Online: July 6, 2021
View Article titled, Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck
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Topics: Cables, Friction, Stiffness
Journal Articles

A Mobile Mathieu Oscillator Model for Vibrational Locomotion of a Bristlebot

Phanindra Tallapragada, Chandravamsi Gandra
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2021, 13(5): 054501.
Paper No: JMR-20-1362
https://doi.org/10.1115/1.4050561
Published Online: May 20, 2021
View Article titled, A Mobile Mathieu Oscillator Model for Vibrational Locomotion of a Bristlebot
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Topics: Anisotropy, Dynamics (Mechanics), Friction, Oscillations, Phase diagrams, Robots, Simulation, Stick-slip, Resonance, Design
Journal Articles

Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact

Jiayin Xie, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041001.
Paper No: JMR-20-1012
https://doi.org/10.1115/1.4049877
Published Online: April 9, 2021
View Article titled, Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact
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Topics: Equations of motion, Friction, Hull, Modeling, Simulation, Dynamic models, Rigid-body mechanisms, Collisions (Physics), Impulse (Physics), Kinematics
Journal Articles

Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot

Stephen L. Canfield, Joseph S. Owens, Stephen G. Zuccaro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031016.
Paper No: JMR-20-1457
https://doi.org/10.1115/1.4050102
Published Online: March 15, 2021
View Article titled, Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot
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Topics: Computer programming, Friction, Robots, Torque, Welding
Journal Articles

Theoretical and Experimental Study on Active Stiffness Control of a Two-Degrees-of-Freedom Rope-Driven Parallel Mechanism

Haiyu Gu, Cheng Wei, Zeming Zhang, Yang Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011018.
Paper No: JMR-20-1045
https://doi.org/10.1115/1.4048751
Published Online: November 16, 2020
View Article titled, Theoretical and Experimental Study on Active Stiffness Control of a Two-Degrees-of-Freedom Rope-Driven Parallel Mechanism
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Topics: Ropes, Stiffness, Tension, Simulation, Friction
Journal Articles

A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force

Jianhua Li, Yuanyuan Zhou, Chongyang Wang, Zhidong Wang, Hao Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041013.
Paper No: JMR-19-1142
https://doi.org/10.1115/1.4046035
Published Online: March 9, 2020
View Article titled, A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force
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Topics: Displacement, Friction, Manipulators, Shapes, Tendons
Journal Articles

Evaluation and Modeling of the Friction in Robotic Joints Considering Thermal Effects

Roberto Pagani, Giovanni Legnani, Giovanni Incerti, Matteo Gheza
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021108.
Paper No: JMR-19-1423
https://doi.org/10.1115/1.4045939
Published Online: February 6, 2020
View Article titled, Evaluation and Modeling of the Friction in Robotic Joints Considering Thermal Effects
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Topics: Cycles, Friction, Robots, Temperature, Torque, Temperature effects
Journal Articles

Design and Experimental Validation of Two Cam-Based Force Regulation Mechanisms

Ming Li, Wei Cheng, Ruili Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031003.
Paper No: JMR-19-1384
https://doi.org/10.1115/1.4045427
Published Online: January 10, 2020
View Article titled, Design and Experimental Validation of Two Cam-Based Force Regulation Mechanisms
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Topics: Design, Displacement, Engineering prototypes, Friction, Springs, Errors, Trajectories (Physics)
Journal Articles

Discrete Layer Jamming for Variable Stiffness Co-Robot Arms

Yitong Zhou, Leon M. Headings, Marcelo J. Dapino
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2020, 12(1): 015001.
Paper No: JMR-18-1416
https://doi.org/10.1115/1.4044537
Published Online: October 16, 2019
View Article titled, Discrete Layer Jamming for Variable Stiffness Co-Robot Arms
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Topics: Clamps (Tools), Pressure, Stiffness, Laminates, Friction, Robots, Design
Journal Articles

Designing a Mobility Solution for Fully Autonomous Welding of Double-Hull Blocks

Chun Fan Goh, Akshay Hinduja, Divish Ajmani, Robin Song, Lei Zhang, Kenji Shimada
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 045002.
Paper No: JMR-18-1385
https://doi.org/10.1115/1.4043604
Published Online: May 21, 2019
View Article titled, Designing a Mobility Solution for Fully Autonomous Welding of Double-Hull Blocks
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Topics: Design, Dimensions, Engineering prototypes, Hull, Manipulators, Mechanical admittance, Mobile robots, Robots, Stability, Welding
Journal Articles

Single-Motor Controlled Tendon-Driven Peristaltic Soft Origami Robot

Hritwick Banerjee, Neha Pusalkar, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2018, 10(6): 064501.
Paper No: JMR-17-1430
https://doi.org/10.1115/1.4041200
Published Online: September 7, 2018
View Article titled, Single-Motor Controlled Tendon-Driven Peristaltic Soft Origami Robot
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Topics: Engines, Motors, Robots, Springs, Design, Friction, Tendons, Deformation, Buckling
Journal Articles

Design and Experimental Validation of a Large-Displacement Constant-Force Mechanism

Ming Li, Wei Cheng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051007.
Paper No: JMR-17-1407
https://doi.org/10.1115/1.4040437
Published Online: July 13, 2018
View Article titled, Design and Experimental Validation of a Large-Displacement Constant-Force Mechanism
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Topics: Design, Displacement, Friction, Engineering prototypes, Springs
Journal Articles

Cam Profile Generation for Cam-Spring Mechanism With Desired Torque

Fei Gao, Yannan Liu, Wei-Hsin Liao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2018, 10(4): 041009.
Paper No: JMR-17-1265
https://doi.org/10.1115/1.4040270
Published Online: May 31, 2018
View Article titled, Cam Profile Generation for Cam-Spring Mechanism With Desired Torque
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Topics: Springs, Torque, Friction