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Journal Articles

Design and Performance Analysis of Wavy Nonrotating Pneumatic Soft Actuator

Zhongming Lv, Feiyun Xiao, Baoliang Chen, Ruonan Dong, Zhengshi Liu, Yong Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021011.
Paper No: JMR-22-1229
DOI: https://doi.org/10.1115/1.4062213
Published Online: May 9, 2023
View Article titled, Design and Performance Analysis of Wavy Nonrotating Pneumatic Soft Actuator
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Topics: Actuators, Pressure
Journal Articles

kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries

Marios Vasileiou, Nikolaos Manos, Nikos Vasilopoulos, Anastasia Douma, Ergina Kavallieratou
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041003.
Paper No: JMR-23-1169
DOI: https://doi.org/10.1115/1.4062355
Published Online: May 2, 2023
View Article titled, kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries
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Topics: Additive manufacturing, Autonomous underwater vehicles, Design, Flow simulation, Inspection, Mechanical admittance, Underwater vehicles, Vehicles, Robots, Navigation
Journal Articles

A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators

Ziying Lin, Lingmin Xu, Ye Ding, Xiangyang Zhu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041016.
Paper No: JMR-22-1382
DOI: https://doi.org/10.1115/1.4062304
Published Online: May 2, 2023
View Article titled, A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators
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Topics: Design, Kinematics, Manipulators, Redundancy (Engineering), Stiffness, Actuators, Linkages, Mechanical admittance, Optimization
Journal Articles

Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

Weixing Chen, Yu Wen, Xiaochuan Tong, Chaoxiong Lin, Jiang Li, Shuyou Wang, Wei Xie, Lifeng Mao, Xianchao Zhao, Weidong Zhang, Feng Gao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041015.
Paper No: JMR-23-1023
DOI: https://doi.org/10.1115/1.4062177
Published Online: May 2, 2023
View Article titled, Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
Click here to open pdf in another window PDF for Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
Topics: Actuators, Control equipment, Inertia (Mechanics), Ships, Waves, Dynamics (Mechanics), Design, Stress, Errors, Dynamic models
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
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051018.
Paper No: JMR-21-1754
DOI: 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 and Validation of Symmetrical Elastic Elements in Series Elastic Actuator

Ruzhen Pei, Xibin Cao, Cheng Wei
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061018.
Paper No: JMR-22-1411
DOI: https://doi.org/10.1115/1.4062274
Published Online: May 2, 2023
View Article titled, Design and Validation of Symmetrical Elastic Elements in Series Elastic Actuator
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Topics: Design, Shapes, Stiffness, Actuators, Fittings
Journal Articles

Implementing the Analytical Reachable Body Workspace for Calculating the Obstacle-Crossing Ability of a Hexapod Robot

Chenkun Qi, Huayang Li, Feng Gao, Xianbao Chen, Yue Zhao, Zhijun Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061017.
Paper No: JMR-22-1493
DOI: https://doi.org/10.1115/1.4062353
Published Online: May 2, 2023
View Article titled, Implementing the Analytical Reachable Body Workspace for Calculating the Obstacle-Crossing Ability of a Hexapod Robot
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Topics: Ditches, Robots, Simulation
Journal Articles

Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section

Christian DeBuys, Florin C. Ghesu, Jagadeesan Jayender, Reza Langari, Young-Ho Kim
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061019.
Paper No: JMR-22-1604
DOI: https://doi.org/10.1115/1.4062354
Published Online: May 2, 2023
View Article titled, Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section
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Topics: Errors, Kinematics, Manipulators, Tendons, Tension, Robots, Design
Journal Articles

Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles

Yu-Jeong Han, Hyeon-Ho Yang, Jae-Hung Han
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051017.
Paper No: JMR-22-1481
DOI: https://doi.org/10.1115/1.4062339
Published Online: May 2, 2023
View Article titled, Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles
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Topics: Design, Kinematics, Optimization, Thrust, Wings, Flight, Wind tunnels, Vehicles, Manufacturing, Stress
Journal Articles

Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism

Wei Zhu, Zhu Xu, Zhiyuan Ma, Huiping Shen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021010.
Paper No: JMR-22-1654
DOI: https://doi.org/10.1115/1.4062149
Published Online: April 12, 2023
View Article titled, Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism
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Topics: Chain, Design, Dynamics (Mechanics), Kinematics, Optimization, Parallel mechanisms, Performance evaluation, Rotation, Kinematic analysis
Journal Articles

Design and Implementation of a Synergy-Based Cable-Driven Humanoid Arm With Variable Stiffness

Hang Xiao, Jianyin Tang, Shengnan Lyu, Kun Xu, Xilun Ding
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041002.
Paper No: JMR-22-1426
DOI: https://doi.org/10.1115/1.4062130
Published Online: April 12, 2023
View Article titled, Design and Implementation of a Synergy-Based Cable-Driven Humanoid Arm With Variable Stiffness
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Topics: Cables, Design, Stiffness, Dimensions
Journal Articles

Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices

Shuangshuang Zhang, Linsong Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041001.
Paper No: JMR-22-1513
DOI: https://doi.org/10.1115/1.4062134
Published Online: April 12, 2023
View Article titled, Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices
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Topics: Deformation, Manipulators, Modeling, Stiffness, Stress, Parallel mechanisms, Kinematics
Journal Articles

Direct Encoding of Tunable Stiffness Into an Origami-Inspired Jumping Robot Leg

Fuchen Chen, Daniel M. Aukes
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031012.
Paper No: JMR-22-1373
DOI: https://doi.org/10.1115/1.4056958
Published Online: March 29, 2023
View Article titled, Direct Encoding of Tunable Stiffness Into an Origami-Inspired Jumping Robot Leg
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Topics: Design, Robots, Springs, Stiffness, Laminates, Origami-inspired design, Motors
Journal Articles

A Novel Transformable Leg-Wheel Mechanism

Zhong Wei, Peng Ping, Yong Luo, Jia Liu, Dapeng Chen, Weixi Wang, Huiyu Sun, Aiguo Song, Guangming Song
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031008.
Paper No: JMR-22-1164
DOI: https://doi.org/10.1115/1.4057069
Published Online: March 28, 2023
View Article titled, A Novel Transformable Leg-Wheel Mechanism
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Topics: Design, Knee, Simulation, Trajectories (Physics), Wheels, Legged locomotion, Robots, Kinematics, Actuators, Modeling
Journal Articles

Approach for Identifying Cartesian Stiffness of a 5-Degree-of-Freedom Hybrid Robot for Machining

Wei Yue, Haitao Liu, Guangxi Li, Ke Xu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031009.
Paper No: JMR-22-1180
DOI: https://doi.org/10.1115/1.4057071
Published Online: March 28, 2023
View Article titled, Approach for Identifying Cartesian Stiffness of a 5-Degree-of-Freedom Hybrid Robot for Machining
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Topics: Robots, Stiffness, Deflection, Regression models, Design, Parameter estimation
Journal Articles

Light-Weight Design of Five-Degree-of-Freedom Hybrid Robot for Assembling in the Cabin

Binbin Lian, Pan Feng, Jin Wu, Jintao Ma, Yuan Zhang, Yimin Song
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031010.
Paper No: JMR-22-1546
DOI: https://doi.org/10.1115/1.4057074
Published Online: March 28, 2023
View Article titled, Light-Weight Design of Five-Degree-of-Freedom Hybrid Robot for Assembling in the Cabin
Click here to open pdf in another window PDF for Light-Weight Design of Five-Degree-of-Freedom Hybrid Robot for Assembling in the Cabin
Topics: Design, Robots, Stiffness, Weight (Mass), Modeling, Kinematics, Pareto optimization
Journal Articles

Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms

Zhengyu Wang, Shiyang Bao, Bin Zi, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031011.
Paper No: JMR-22-1584
DOI: https://doi.org/10.1115/1.4057075
Published Online: March 28, 2023
View Article titled, Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
Click here to open pdf in another window PDF for Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
Topics: Cables, Endoscopic devices, Kinematics, Robots, Design, Surgery, Lenses (Optics), Calibration
Journal Articles

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031007.
Paper No: JMR-22-1497
DOI: https://doi.org/10.1115/1.4056830
Published Online: March 27, 2023
View Article titled, Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot
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Topics: Kinematics, Optimization, Robots, Trajectories (Physics), Redundancy (Engineering)
Journal Articles

Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles

Chi-Shiun Jhuang, Chia-Wei Juang, Dar-Zen Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031006.
Paper No: JMR-22-1390
DOI: https://doi.org/10.1115/1.4056960
Published Online: March 8, 2023
View Article titled, Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles
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Topics: Manipulators, Springs, Torque
Journal Articles

Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments

Chenhao Lu, Yao Chen, Jiayi Yan, Jian Feng, Pooya Sareh
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031001.
Paper No: JMR-22-1316
DOI: https://doi.org/10.1115/1.4056870
Published Online: March 8, 2023
View Article titled, Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments
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Topics: Algorithms, Design, Kinematics, Stiffness, Displacement, Deformation, Structural analysis