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Journal Articles

Robust Attitude Controller Design for an Uncommon Quadrotor With Big and Small Tilt Rotors

Mehmet Baskın, Kemal Leblebicioğlu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031003.
Paper No: JMR-22-1168
https://doi.org/10.1115/1.4056826
Published Online: February 21, 2023
View Article titled, Robust Attitude Controller Design for an Uncommon Quadrotor With Big and Small Tilt Rotors
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Topics: Control equipment, Design, Robust control, Rotors, Uncertainty, Flight, Yaw
Journal Articles

Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems

Fujie Yu, Qilong Zhu, Yuan Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064501.
Paper No: JMR-22-1280
https://doi.org/10.1115/1.4056378
Published Online: January 18, 2023
View Article titled, Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
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Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds
Journal Articles

Modeling of Flexible-Link Manipulators Under Uncertain Parameters Based on Stochastic Finite Element Method

Fabian A. Lara-Molina
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061002.
Paper No: JMR-21-1647
https://doi.org/10.1115/1.4054995
Published Online: September 12, 2022
View Article titled, Modeling of Flexible-Link Manipulators Under Uncertain Parameters Based on Stochastic Finite Element Method
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Topics: Flexible manipulators, Manipulators, Modeling, Uncertainty, Finite element methods, Stiffness
Journal Articles

Robust Design and Evaluation of a Novel Modular Origami-Enabled Mobile Robot (OSCAR)

Oyuna Angatkina, Andrew G. Alleyne, Aimy Wissa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021015.
Paper No: JMR-21-1384
https://doi.org/10.1115/1.4054361
Published Online: July 19, 2022
View Article titled, Robust Design and Evaluation of a Novel Modular Origami-Enabled Mobile Robot (OSCAR)
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Topics: Design, Robots, Uncertainty, Manufacturing, Cycles
Journal Articles

Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model

Jun Gao, Bin Zhou, Bin Zi, Sen Qian, Ping Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051008.
Paper No: JMR-21-1352
https://doi.org/10.1115/1.4053219
Published Online: February 21, 2022
View Article titled, Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model
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Topics: Cables, Errors, Kinematics, Pulleys, Uncertainty, Uncertainty analysis, Robots
Journal Articles

Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties

Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031016.
Paper No: JMR-21-1399
https://doi.org/10.1115/1.4053048
Published Online: December 9, 2021
View Article titled, Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties
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Topics: Gravity (Force), Reliability, Robots, Springs, Uncertainty, Design, Torque, Event history analysis, Optimization
Journal Articles

Self-Identification of Cable-Driven Exoskeleton Based on Asynchronous Iterative Method

Yuhan Ji, Weihai Chen, Jianbin Zhang, Zhongyi Li, Zaojun Fang, Guilin Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021013.
Paper No: JMR-21-1009
https://doi.org/10.1115/1.4052380
Published Online: October 13, 2021
View Article titled, Self-Identification of Cable-Driven Exoskeleton Based on Asynchronous Iterative Method
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Topics: Cables, Errors, Exoskeleton devices, Kinematics, Uncertainty
Journal Articles

Control and Control Allocation for Bimodal, Rotary Wing, Rolling–Flying Vehicles

Stefan Atay, Matthew Bryant, Gregory Buckner
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050904.
Paper No: JMR-21-1015
https://doi.org/10.1115/1.4050998
Published Online: May 17, 2021
View Article titled, Control and Control Allocation for Bimodal, Rotary Wing, Rolling–Flying Vehicles
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Topics: Control equipment, Control systems, Rotors, Thrust, Vehicles, Uncertainty, Algorithms, Hardware, Design, Dynamic models
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

A Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities

Rajesh Kumar, Joyjit Mukherjee, Sudipto Mukherjee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031013.
Paper No: JMR-20-1435
https://doi.org/10.1115/1.4049950
Published Online: March 15, 2021
View Article titled, A Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities
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Topics: Control algorithms, Design, Simulation, Sliding mode control, Stability, Structural mechanics, Shapes, Kinematics, Algorithms, Control equipment
Journal Articles

Clearance-Induced Orientation Uncertainty of Spherical Linkages

Cody Leeheng Chan, Kwun-Lon Ting
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021021.
Paper No: JMR-20-1322
https://doi.org/10.1115/1.4049974
Published Online: March 5, 2021
View Article titled, Clearance-Induced Orientation Uncertainty of Spherical Linkages
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Topics: Clearances (Engineering), Linkages, Uncertainty, Errors
Journal Articles

Multi-Objective Optimization of Parallel Tracking Mechanism Considering Parameter Uncertainty

Yang Qi, Tao Sun, Yimin Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2018, 10(4): 041006.
Paper No: JMR-17-1190
https://doi.org/10.1115/1.4039771
Published Online: April 18, 2018
View Article titled, Multi-Objective Optimization of Parallel Tracking Mechanism Considering Parameter Uncertainty
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Topics: Design, Optimization, Pareto optimization, Uncertainty, Stiffness, Kinematics, Deformation
Journal Articles

Clearance-Induced Position Uncertainty of Planar Linkages and Parallel Manipulators

Kwun-Lon Ting, Kuan-Lun Hsu, Jun Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061001.
Paper No: JMR-16-1230
https://doi.org/10.1115/1.4037619
Published Online: September 6, 2017
View Article titled, Clearance-Induced Position Uncertainty of Planar Linkages and Parallel Manipulators
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Topics: Clearances (Engineering), Linkages, Manipulators, Robots, Uncertainty
Journal Articles

On the Solution Set for Positive Wire Tension With Uncertainty in Wire-Actuated Parallel Manipulators

Leila Notash
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2016, 8(4): 044506.
Paper No: JMR-15-1288
https://doi.org/10.1115/1.4032593
Published Online: March 25, 2016
View Article titled, On the Solution Set for Positive Wire Tension With Uncertainty in Wire-Actuated Parallel Manipulators
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Topics: Manipulators, Tension, Wire, Jacobian matrices, Uncertainty
Journal Articles

Motion Analysis of Manipulators With Uncertainty in Kinematic Parameters

Vahid Nazari, Leila Notash
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021014.
Paper No: JMR-15-1060
https://doi.org/10.1115/1.4031657
Published Online: November 24, 2015
View Article titled, Motion Analysis of Manipulators With Uncertainty in Kinematic Parameters
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Topics: Kinematics, Manipulators, Uncertainty
Journal Articles

Characterization of Spatial Parasitic Motions of Compliant Mechanisms Induced by Manufacturing Errors

Zhiwei Zhu, Suet To, Xiaoqin Zhou, Rongqi Wang, Xu Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011018.
Paper No: JMR-15-1065
https://doi.org/10.1115/1.4030586
Published Online: August 18, 2015
View Article titled, Characterization of Spatial Parasitic Motions of Compliant Mechanisms Induced by Manufacturing Errors
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Topics: Compliant mechanisms, Errors, Linkages, Manufacturing, Modeling, Simulation, Uncertainty, Deformation
Journal Articles

Parametric Design of Parallel Force/Velocity Actuators: Force Distribution Analysis

Dinesh Rabindran, Delbert Tesar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2010, 2(1): 011013.
https://doi.org/10.1115/1.4000526
Published Online: January 11, 2010
View Article titled, Parametric Design of Parallel Force/Velocity Actuators: Force Distribution Analysis
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Topics: Actuators, Design, Inertia (Mechanics), Motors, Stiffness, Stress, Torque, Engineering prototypes, Kinematics, Engines