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Keywords: theoretical kinematics
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Journal Articles

On the Computation of Mean and Variance of Spatial Displacements

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Qiaode Jeffrey Ge, Zihan Yu, Mona Arbab, Mark P. Langer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011006.
Paper No: JMR-22-1507
https://doi.org/10.1115/1.4057046
Published Online: March 28, 2023
... 2023 mechanism synthesis average displacements mean and variance planning target volume theoretical kinematics National Cancer Institute 10.13039/100000054 R03CA249545 This paper studies the problem of computing an average (or mean) of a set of spatial displacements...
View Articletitled, On the Computation of Mean and Variance of Spatial Displacements
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Topics: Displacement, Rotation, Kinematics, Weight (Mass)
Journal Articles

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

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Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031007.
Paper No: JMR-22-1497
https://doi.org/10.1115/1.4056830
Published Online: March 27, 2023
...: Enrico.Simetti@unige.it Email: fleborne@nimbl-bot.com Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 14 10 2022 27 01 2023 27 01 2023 27 03 2023 mechanism synthesis theoretical kinematics...
View Articletitled, Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot
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Topics: Kinematics, Optimization, Robots, Trajectories (Physics), Redundancy (Engineering)
Journal Articles

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

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Chenhao Lu, Yao Chen, Jiayi Yan, Jian Feng, Pooya Sareh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031001.
Paper No: JMR-22-1316
https://doi.org/10.1115/1.4056870
Published Online: March 8, 2023
... . 04 07 2022 31 01 2023 01 02 2023 08 03 2023 spatial form-finding flat-foldable origami kinematic singularity Miura origami tessellation rigid-foldability folding of origami mechanism design robot design theoretical kinematics National Natural Science...
View Articletitled, 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
Journal Articles

Parameter Optimization of Foldable Flapping-Wing Mechanism for Maximum Lift

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Hyeon-Ho Yang, Sang-Gil Lee, Reynolds Addo-Akoto, Jae-Hung Han
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031002.
Paper No: JMR-22-1371
https://doi.org/10.1115/1.4056869
Published Online: March 8, 2023
... ]. Ministry of Science, ICT and Future Planning 10.13039/501100003621 2020M3C1C1A01083415 flapping-wing air vehicle foldable flapping-wing mechanism flapping-wing kinematics unsteady aerodynamics bio-inspired design mechanism design theoretical kinematics 05 08 2022 29 01 2023...
View Articletitled, Parameter Optimization of Foldable Flapping-Wing Mechanism for Maximum Lift
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Topics: Optimization, Wings, Design, Kinematics, Simulation
Journal Articles

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

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Chi-Shiun Jhuang, Chia-Wei Juang, Dar-Zen Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031006.
Paper No: JMR-22-1390
https://doi.org/10.1115/1.4056960
Published Online: March 8, 2023
.... Theory , 117 ( 1 ), pp. 56 – 77 . 10.1016/j.mechmachtheory.2017.07.002 spring static balance joint reaction force serially connected manipulator force analysis mechanism design robot design theoretical kinematics Ministry of Science and Technology, Taiwan 10.13039/501100004663...
View Articletitled, 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

Three 2-DOF 1T1R and One 3-DOF 2T1R Full-Hinged Novel Parallel Mechanisms With Zero Coupling Degree and Motion Decoupling: Design and Analysis

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Ju Li, Hongbo He, Guanglei Wu, Tao Li, Huiping Shen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031003.
Paper No: JMR-22-1474
https://doi.org/10.1115/1.4056875
Published Online: March 8, 2023
... and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 06 10 2022 03 02 2023 06 02 2023 08 03 2023 parallel mechanism topology design coupling degree motion decoupling dynamics mechanism synthesis parallel platforms theoretical...
View Articletitled, Three 2-DOF 1T1R and One 3-DOF 2T1R Full-Hinged Novel Parallel Mechanisms With Zero Coupling Degree and Motion Decoupling: Design and Analysis
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Topics: Chain, Design, Kinematics, Parallel mechanisms, Rotation, Topology
Journal Articles

Development of a Three-Mobile-Robot System for Cooperative Transportation

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Changxiang Fan, Fan Zeng, Shouhei Shirafuji, Jun Ota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021008.
Paper No: JMR-22-1450
https://doi.org/10.1115/1.4056771
Published Online: March 8, 2023
... robots robot design theoretical kinematics Japan Society for the Promotion of Science 10.13039/501100001691 JP22K14217 Owing to their simple mechanical structure and flexible movability, wheeled mobile robots have become very popular in many fields to serve the technical society...
View Articletitled, Development of a Three-Mobile-Robot System for Cooperative Transportation
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Topics: Robots, Transportation systems
Journal Articles

Kinematics Analysis of 6-Degrees-of-Freedom Parallel + Serial Type Hybrid Mechanisms Containing Parallel Mechanism With High Coupling Motions

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Bo Hu, Zhiyong Liu, Jinjun Zhao, Jingyu Zhao, Jiantao Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2024, 16(2): 024501.
Paper No: JMR-22-1419
https://doi.org/10.1115/1.4056673
Published Online: March 3, 2023
...: jtyao@ysu.edu.cn Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 05 09 2022 23 12 2022 30 12 2022 03 03 2023 hybrid mechanism parallel mechanism displacement theoretical kinematics...
View Articletitled, Kinematics Analysis of 6-Degrees-of-Freedom Parallel + Serial Type Hybrid Mechanisms Containing Parallel Mechanism With High Coupling Motions
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Topics: Displacement, Kinematics, Parallel mechanisms
Journal Articles

Multi-Branch Cellular Space Robot Mechanism Design and Climbing Behavior Research

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Xiaomeng Liu, Bindi You, Rui Wang, Yang Zhao, Cheng Wei, Dexiao An
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051016.
Paper No: JMR-22-1420
https://doi.org/10.1115/1.4056602
Published Online: January 30, 2023
... Foundation of Shandong Province 10.13039/501100007129 ZR2021ME025 self-reconfiguring robot multi-branch robots truss climbing screw theory legged robots mechanism design mobile robots theoretical kinematics 06 09 2022 23 12 2022 23 12 2022 30 01 2023...
View Articletitled, Multi-Branch Cellular Space Robot Mechanism Design and Climbing Behavior Research
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Topics: Kinematics, Robots, Trusses (Building), Design, Rotation
Journal Articles

A Modeling and Calibration Method of Heavy-Duty Automated Fiber Placement Robot Considering Compliance and Joint-Dependent Errors

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Xiaokang Xu, Liang Cheng, Yingjie Guo, Jiangxiong Li, Yinglin Ke
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061011.
Paper No: JMR-22-1414
https://doi.org/10.1115/1.4056405
Published Online: January 18, 2023
... beam National Natural Science Foundation of China 10.13039/501100001809 91948301 Natural Science Foundation of Zhejiang Province 10.13039/501100004731 2020C01039 robot calibration AFP robot joint-dependent error compliance error gravity deformation theoretical...
View Articletitled, A Modeling and Calibration Method of Heavy-Duty Automated Fiber Placement Robot Considering Compliance and Joint-Dependent Errors
Open the PDF for A Modeling and Calibration Method of Heavy-Duty Automated Fiber Placement Robot Considering Compliance and Joint-Dependent Errors in another window
Topics: Errors, Robots, Deformation, Kinematics
Journal Articles

Sensitivity Analysis of a Suspended Cable-Driven Parallel Robot to Design Parameters

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Thibaut Paty, Nicolas Binaud, Hong Wang, Stéphane Segonds
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061001.
Paper No: JMR-21-1745
https://doi.org/10.1115/1.4056234
Published Online: January 17, 2023
... . 27 12 2021 07 11 2022 07 11 2022 17 01 2023 cable-driven mechanisms theoretical kinematics A cable-driven parallel robot (CDPR) is a particular type of parallel robot. It is a closed kinematic chain moved exclusively by cables [ 1 ]. They are promising systems due...
View Articletitled, Sensitivity Analysis of a Suspended Cable-Driven Parallel Robot to Design Parameters
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Topics: Cables, Errors, Pulleys, Parametrization, Design, Dimensions, Experimental design
Journal Articles

Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation

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Carlos Saldarriaga, Imin Kao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051010.
Paper No: JMR-22-1144
https://doi.org/10.1115/1.4055966
Published Online: November 25, 2022
... and R obotics . 12 04 2022 04 10 2022 07 10 2022 25 11 2022 dynamics theoretical kinematics Cartesian stiffness and/or impedance control establishes a mass–damper–spring relationship between the end-effector and the reference frame [ 1 – 4 ], and it helps...
View Articletitled, Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
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Topics: Equilibrium (Physics), Robots, Steady state, Damping, Dynamic response, Redundant manipulators, Stiffness, Displacement
Journal Articles

A Reconfigurable 6 R Linkage With Six Motion Modes and Three Topological Structures

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Yuan Gao, Fufu Yang, Jun Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054503.
Paper No: JMR-22-1188
https://doi.org/10.1115/1.4056081
Published Online: November 25, 2022
... . 06 05 2022 18 10 2022 20 10 2022 25 11 2022 overconstrained linkages Bennett linkage 6R linkage reconfigurable mechanism kinematics bifurcation mechanism design theoretical kinematics National Natural Science Foundation of China 10.13039/501100001809...
View Articletitled, A Reconfigurable 6 R Linkage With Six Motion Modes and Three Topological Structures
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Topics: Bifurcation, Kinematics, Linkages, Topology
Journal Articles

A Dynamic Loading Mechanism for a Morphing Winglet

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Raffi S. Buchkazanian, Gabriel H. Campos, Fengfeng (Jeff) Xi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054501.
Paper No: JMR-22-1131
https://doi.org/10.1115/1.4055572
Published Online: November 24, 2022
... Committee of ASME for publication in the J ournal of M echanisms and R obotics . 06 04 2022 27 08 2022 02 09 2022 24 11 2022 loading mechanism morphing winglet four-bar mechanism mechanism design mechanism synthesis theoretical kinematics Improving...
View Articletitled, A Dynamic Loading Mechanism for a Morphing Winglet
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Topics: Design, Dynamic testing (Materials), Stress, Actuators, Weight (Mass), Linkages
Journal Articles

A Review of Cuspidal Serial and Parallel Manipulators

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Philippe Wenger, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Review Articles
J. Mechanisms Robotics. August 2023, 15(4): 040801.
Paper No: JMR-22-1211
https://doi.org/10.1115/1.4055677
Published Online: November 15, 2022
... . 23 05 2022 05 09 2022 13 09 2022 15 11 2022 mechanism design parallel platforms robot design theoretical kinematics When a new robot is to be implemented in a production site, its kinematic architecture must be chosen initially (serial or parallel, choice of the number...
View Articletitled, A Review of Cuspidal Serial and Parallel Manipulators
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Topics: Robots
Journal Articles

Sensitivity Analysis and Accuracy Synthesis of a Deployable Antenna Considering Clearances and Link Tolerances

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Jianzhong Ding, Yang Dong, Xueao Liu, Chunjie Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041014.
Paper No: JMR-22-1120
https://doi.org/10.1115/1.4055740
Published Online: November 15, 2022
... . 27 03 2022 07 09 2022 10 09 2022 15 11 2022 planar deployable mechanism joint clearance link tolerance error space modeling accuracy synthesis mechanism design mechanism synthesis theoretical kinematics National Natural Science Foundation of China 10.13039...
View Articletitled, Sensitivity Analysis and Accuracy Synthesis of a Deployable Antenna Considering Clearances and Link Tolerances
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Topics: Errors
Journal Articles

A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress

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Jinlu Ni, Jiangping Mei, Yabin Ding, Dongxing Yu, Yunrui Duan, Yuxin Le
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041012.
Paper No: JMR-22-1126
https://doi.org/10.1115/1.4055571
Published Online: November 14, 2022
... , i = g + k + 1 , … , n where T cyc represents the motion cycle time and n denotes the number of time nodes. dynamics parallel platforms theoretical kinematics National Natural Science Foundation of China...
View Articletitled, A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress
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Topics: Dynamics (Mechanics), Robots, Stress, Trajectories (Physics), Kinematics, Deformation, B-splines
Journal Articles

Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger

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Chun-Tse Lee, Jen-Yuan (James) Chang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041004.
Paper No: JMR-22-1011
https://doi.org/10.1115/1.4055061
Published Online: November 10, 2022
... Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 05 01 2022 08 07 2022 18 07 2022 10 11 2022 bio-inspired design cable-driven mechanisms compliant mechanisms robot design theoretical kinematics...
View Articletitled, Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger
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Topics: Design, Grasping, Motors, Robotics, Stiffness, Tendons, Springs, Engines, Torsion
Journal Articles

Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions

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Kefei Wen, Jessica Burgner-Kahrs
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041003.
Paper No: JMR-21-1579
https://doi.org/10.1115/1.4055062
Published Online: November 10, 2022
... ], and pseudo-rigid-body (PRB) assumption [ 13 – 17 ]. A more comprehensive review on the applications and modeling methods of continuum robots can be found in Refs. [ 1 , 18 ] and the references therein. compliant mechanisms mechanism design parallel platforms soft robots theoretical kinematics...
View Articletitled, Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions
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Topics: Kinematics, Modeling, Robots, Tendons
Journal Articles

Position-Access Workspace of Slender Soft Manipulators

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Walid Amehri, Gang Zheng, Alexandre Kruszewski
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061001.
Paper No: JMR-21-1347
https://doi.org/10.1115/1.4054840
Published Online: September 12, 2022
... 14 06 2022 12 09 2022 mechanism design mechanism synthesis soft robots theoretical kinematics Agence Nationale de la Recherche 10.13039/501100001665 ANR-19-CE19 ANR-20-CE33 National Natural Science Foundation of China 10.13039/501100001809 62073081...
View Articletitled, Position-Access Workspace of Slender Soft Manipulators
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Topics: Manipulators, Tendons, End effectors