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Journal Articles

Kinematics of a Parallel Robot with Six Pairs of Offset Joints

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Accepted Manuscript
Hasiaoqier Han, Metin Toz, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1487
https://doi.org/10.1115/1.4068645
Published Online: May 12, 2025
View Articletitled, Kinematics of a Parallel Robot with Six Pairs of Offset Joints
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Topics: Kinematics, Robots, Computer simulation, Displacement, Machinery, Universal joints
Journal Articles

Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy

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Lingmin Xu, Wei Ye, Qinchuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061007.
Paper No: JMR-23-1761
https://doi.org/10.1115/1.4067228
Published Online: December 12, 2024
View Articletitled, Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy
Open the PDF for Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy in another window
Topics: Evaluation methods, Manipulators, Reactor protection systems, Redundancy (Engineering), Screws, Robots, Kinematics, Universal joints, Stress
Journal Articles

Kinematic Analysis and Dimension Optimization of a New Reconfigurable Parallel Mechanism With 1R2T and 2R1T Operation Modes

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Wei Ye, Lihuan Hu, Qinchuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060914.
Paper No: JMR-21-1728
https://doi.org/10.1115/1.4055327
Published Online: September 12, 2022
View Articletitled, Kinematic Analysis and Dimension Optimization of a New Reconfigurable Parallel Mechanism With 1R2T and 2R1T Operation Modes
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Topics: Dimensions, Kinematic analysis, Kinematics, Optimization, Parallel mechanisms, Screws, Universal joints, Performance evaluation, Engineering prototypes, Switches
Journal Articles

A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism

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Yujiong Liu, Jiamin Wang, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051005.
Paper No: JMR-18-1439
https://doi.org/10.1115/1.4044067
Published Online: July 9, 2019
View Articletitled, A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism
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Topics: Cables, Robotics, Shapes, Universal joints, Design, Yaw, Rotation, Kinematics
Journal Articles

Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis

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Alexander Agboola-Dobson, Guowu Wei, Lei Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041012.
Paper No: JMR-18-1195
https://doi.org/10.1115/1.4043603
Published Online: May 17, 2019
View Articletitled, Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis
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Topics: Actuators, Cycles, Design, Prostheses, Springs, Stiffness, Torque, Universal joints, Artificial limbs, Kinematics
Journal Articles

A New 4-DOF Fully Parallel Robot With Decoupled Rotation for Five-Axis Micromachining Applications

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Oleksandr Stepanenko, Ilian A. Bonev, Dimiter Zlatanov
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 031010.
Paper No: JMR-18-1275
https://doi.org/10.1115/1.4042849
Published Online: April 9, 2019
View Articletitled, A New 4-DOF Fully Parallel Robot With Decoupled Rotation for Five-Axis Micromachining Applications
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Topics: Actuators, End effectors, Kinematics, Machinery, Parallel mechanisms, Robots, Rotation, Design, Micromachining, Universal joints
Journal Articles

Reconfigurability Analysis of a Class of Parallel Kinematics Machines

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Luca Carbonari, Daniele Costa, Giacomo Palmieri, Matteo-Claudio Palpacelli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 021002.
Paper No: JMR-18-1247
https://doi.org/10.1115/1.4042348
Published Online: February 27, 2019
View Articletitled, Reconfigurability Analysis of a Class of Parallel Kinematics Machines
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Topics: Kinematics, Machinery, Mechanical admittance, Polynomials, Robots, Design, End effectors, Universal joints, Manipulators
Journal Articles

A Novel Underactuated Tetrahedral Mobile Robot

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Zhirui Wang, Yaobin Tian, Yan-an Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2018, 10(4): 044506.
Paper No: JMR-17-1365
https://doi.org/10.1115/1.4040438
Published Online: June 18, 2018
View Articletitled, A Novel Underactuated Tetrahedral Mobile Robot
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Topics: Chain, Design, Engineering prototypes, Kinematics, Mobile robots, Robots, Springs, Actuators, Mechanical admittance, Universal joints
Journal Articles

Design, Modeling, and Integration of a Flexible Universal Spatial Robotic Tail

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William S. Rone, Wael Saab, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2018, 10(4): 041001.
Paper No: JMR-17-1360
https://doi.org/10.1115/1.4039500
Published Online: April 5, 2018
View Articletitled, Design, Modeling, and Integration of a Flexible Universal Spatial Robotic Tail
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Topics: Cables, Design, Robotics, Robots, Yaw, Universal joints, Sensors, Springs, Displacement
Journal Articles

Deterministic Design for a Compliant Parallel Universal Joint With Constant Rotational Stiffness

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Yan Xie, Jingjun Yu, Hongzhe Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031006.
Paper No: JMR-17-1182
https://doi.org/10.1115/1.4039065
Published Online: March 30, 2018
View Articletitled, Deterministic Design for a Compliant Parallel Universal Joint With Constant Rotational Stiffness
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Topics: Bending (Stress), Design, Rotation, Stiffness, Stress, Universal joints, Blades
Journal Articles

Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy

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Lingmin Xu, Qinchuan Li, Ningbin Zhang, Qiaohong Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041008.
Paper No: JMR-16-1280
https://doi.org/10.1115/1.4036517
Published Online: May 2, 2017
View Articletitled, Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy
Open the PDF for Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy in another window
Topics: Design, Kinematics, Manipulators, Mechanical admittance, Optimization, Displacement, Redundancy (Engineering), Screws, Universal joints, Kinematic analysis
Journal Articles

Joint Angle Measurement Using Strategically Placed Accelerometers and Gyroscope

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Vishesh Vikas, Carl D. Crane, III
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021003.
Paper No: JMR-14-1328
https://doi.org/10.1115/1.4031299
Published Online: November 24, 2015
View Articletitled, Joint Angle Measurement Using Strategically Placed Accelerometers and Gyroscope
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Topics: Accelerometers, Sensors, Universal joints, Microelectromechanical systems, Design, Errors
Journal Articles

A Redundantly Actuated 2-Degrees-of-Freedom Mini Pointing Device

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Matteo-Claudio Palpacelli, Giacomo Palmieri, Massimo Callegari
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2012, 4(3): 031012.
https://doi.org/10.1115/1.4006833
Published Online: July 3, 2012
View Articletitled, A Redundantly Actuated 2-Degrees-of-Freedom Mini Pointing Device
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Topics: Actuators, Kinematics, Manipulators, Universal joints, Stress, Design, Rotation, Bending (Stress)
Journal Articles

Design and Prototyping of a Force-Reflecting Hand-Controller for Ultrasound Imaging

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Farshid Najafi, Nariman Sepehri
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021002.
https://doi.org/10.1115/1.4003446
Published Online: March 10, 2011
View Articletitled, Design and Prototyping of a Force-Reflecting Hand-Controller for Ultrasound Imaging
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Topics: Control equipment, Design, Robotics, Ultrasonic imaging, Ultrasound, Springs, Actuators, Engineering prototypes, Tension, Haptics
Journal Articles

A Statically Balanced Gough/Stewart-Type Platform: Conception, Design, and Simulation

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Marco Carricato, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2009, 1(3): 031005.
https://doi.org/10.1115/1.3147192
Published Online: July 14, 2009
View Articletitled, A Statically Balanced Gough/Stewart-Type Platform: Conception, Design, and Simulation
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Topics: Design, Gravity (Force), Manipulators, Simulation, Springs, Trajectories (Physics), Universal joints, Weight (Mass), Motors, Engineering prototypes
Journal Articles

Stiffness Modeling of the Tricept Robot Using the Overall Jacobian Matrix

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Youyu Wang, Haitao Liu, Tian Huang, Derek G. Chetwynd
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2009, 1(2): 021002.
https://doi.org/10.1115/1.3046131
Published Online: January 6, 2009
View Articletitled, Stiffness Modeling of the Tricept Robot Using the Overall Jacobian Matrix
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Topics: Modeling, Stiffness, Robots, Universal joints