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Journal Articles

Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance

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Sen Xu, Kai Tang, Lingmin Xu, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031003.
Paper No: JMR-24-1141
https://doi.org/10.1115/1.4066136
Published Online: September 3, 2024
View Articletitled, Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
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Topics: Calibration, Design, Exoskeleton devices, Modeling, Rods, Stiffness, Torque, Parallel mechanisms, Errors
Journal Articles

Variational Integrators on Manifolds for Constrained Mechanical Systems

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Ziying Lin, Hongchen Li, Ye Ding, Xiangyang Zhu
Journal: Journal of Applied Mechanics
Publisher: ASME
Article Type: Research Papers
J. Appl. Mech. July 2024, 91(7): 071009.
Paper No: JAM-24-1042
https://doi.org/10.1115/1.4065477
Published Online: May 21, 2024
View Articletitled, Variational Integrators on Manifolds for Constrained Mechanical Systems
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Topics: Manifolds, Parametrization, Errors, Simulation
Journal Articles

Prediction of the Waviness Error in Ultra-Precision Fly Cutting Using the Direct Integration Method

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Jinchun Yuan, Jiasheng Li, Wei Wei, Ye Ding
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Research Papers
J. Manuf. Sci. Eng. May 2024, 146(5): 051007.
Paper No: MANU-23-1394
https://doi.org/10.1115/1.4064834
Published Online: March 12, 2024
View Articletitled, Prediction of the Waviness Error in Ultra-Precision Fly Cutting Using the Direct Integration Method
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Topics: Cutting, Errors, Vibration, Machining, Dynamics (Mechanics)
Journal Articles

An Efficient Kinematic Calibration Method for Parallel Robots With Compact Multi-Degrees-of-Freedom Joint Models

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Weijia Zhang, Zikang Shi, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101011.
Paper No: JMR-23-1707
https://doi.org/10.1115/1.4064637
Published Online: February 28, 2024
View Articletitled, An Efficient Kinematic Calibration Method for Parallel Robots With Compact Multi-Degrees-of-Freedom Joint Models
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Topics: Calibration, Error compensation, Errors, Kinematics, Robots, Modeling, Simulation, End effectors
Journal Articles

An Analytical Method for Sensitivity Analysis of Rigid Multibody System Dynamics Using Projective Geometric Algebra

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Guangzhen Sun, Ye Ding
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. November 2023, 18(11): 111002.
Paper No: CND-22-1310
https://doi.org/10.1115/1.4063225
Published Online: September 14, 2023
View Articletitled, An Analytical Method for Sensitivity Analysis of Rigid Multibody System Dynamics Using Projective Geometric Algebra
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Topics: Algebra, Algorithms, Dynamics (Mechanics), Multibody systems, Particulate matter, Path planning, Sensitivity analysis, Robots, Rigid-body mechanisms, Inertia (Mechanics)
Journal Articles

Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot

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Lingmin Xu, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054501.
Paper No: JMR-22-1580
https://doi.org/10.1115/1.4062649
Published Online: June 26, 2023
View Articletitled, Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot
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Topics: Cavities, Design, Kinematics, Machining, Robots, Optimization, Performance evaluation
Includes: Supplementary data
Journal Articles

Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces

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Lingmin Xu, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051001.
Paper No: JMR-23-1010
https://doi.org/10.1115/1.4062607
Published Online: June 9, 2023
View Articletitled, Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces
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Topics: Kinematics, Machining, Manipulators, Robots, Design, Stiffness, Mechanical admittance, Optimization, Performance evaluation
Journal Articles

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

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Ziying Lin, Lingmin Xu, Ye Ding, Xiangyang Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041016.
Paper No: JMR-22-1382
https://doi.org/10.1115/1.4062304
Published Online: May 2, 2023
View Articletitled, 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

Pose Optimization in Robotic Milling Based on Surface Location Error

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Tengyu Hou, Yang Lei, Ye Ding
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Technical Briefs
J. Manuf. Sci. Eng. August 2023, 145(8): 084501.
Paper No: MANU-22-1655
https://doi.org/10.1115/1.4057055
Published Online: March 29, 2023
View Articletitled, Pose Optimization in Robotic Milling Based on Surface Location Error
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Topics: Errors, Machining, Milling, Optimization, Robots, Vibration, Robotics
Journal Articles

Posture Optimization in Robotic Flat-End Milling Based on Sequential Quadratic Programming

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Yongxue Chen, Ye Ding
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Research Papers
J. Manuf. Sci. Eng. June 2023, 145(6): 061001.
Paper No: MANU-22-1329
https://doi.org/10.1115/1.4056707
Published Online: February 10, 2023
View Articletitled, Posture Optimization in Robotic Flat-End Milling Based on Sequential Quadratic Programming
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Topics: Machining, Milling, Optimization, Robotics, Robots, Toolpaths, Quadratic programming, Algorithms, Approximation, Simulation
Journal Articles

A Hamiltonian Formulation on Manifolds for Dynamic Modeling of Constrained Mechanisms and Energy-Preserving Integration

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Hongchen Li, Ye Ding
Journal: Journal of Applied Mechanics
Publisher: ASME
Article Type: Research Papers
J. Appl. Mech. December 2022, 89(12): 121007.
Paper No: JAM-22-1241
https://doi.org/10.1115/1.4055662
Published Online: October 6, 2022
View Articletitled, A Hamiltonian Formulation on Manifolds for Dynamic Modeling of Constrained Mechanisms and Energy-Preserving Integration
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Topics: Dynamic modeling, Dynamics (Mechanics), Manifolds, Parametrization, Simulation, Algorithms, Errors, Equations of motion, Jacobian matrices
Journal Articles

Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization

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MuBang Xiao, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021006.
Paper No: JMR-20-1325
https://doi.org/10.1115/1.4048916
Published Online: January 22, 2021
View Articletitled, Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization
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Topics: Kinematics, Parametrization, Spin (Aerodynamics), Rotation
Journal Articles

An Efficient Approach for Stability Analysis and Parameter Tuning in Delayed Feedback Control of a Flying Robot Carrying a Suspended Load

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Wei Dong, Ye Ding, Luo Yang, Xinjun Sheng, Xiangyang Zhu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2019, 141(8): 081015.
Paper No: DS-18-1049
https://doi.org/10.1115/1.4043223
Published Online: April 9, 2019
View Articletitled, An Efficient Approach for Stability Analysis and Parameter Tuning in Delayed Feedback Control of a Flying Robot Carrying a Suspended Load
Open the PDF for An Efficient Approach for Stability Analysis and Parameter Tuning in Delayed Feedback Control of a Flying Robot Carrying a Suspended Load in another window
Topics: Delays, Feedback, Optimal control, Robots, Stability, Stress, Errors, Simulation, Optimization, Control equipment
Journal Articles

Patterns of Regenerative Milling Chatter Under Joint Influences of Cutting Parameters, Tool Geometries, and Runout

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Jinbo Niu, Ye Ding, Zunmin Geng, LiMin Zhu, Han Ding
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Research-Article
J. Manuf. Sci. Eng. December 2018, 140(12): 121004.
Paper No: MANU-18-1467
https://doi.org/10.1115/1.4041250
Published Online: September 17, 2018
View Articletitled, Patterns of Regenerative Milling Chatter Under Joint Influences of Cutting Parameters, Tool Geometries, and Runout
Open the PDF for Patterns of Regenerative Milling Chatter Under Joint Influences of Cutting Parameters, Tool Geometries, and Runout in another window
Topics: Bifurcation, Chatter, Cutting, Temperature programmed desorption, Milling, Signals
Journal Articles

An Efficient Approach of Time-Optimal Trajectory Generation for the Fully Autonomous Navigation of the Quadrotor

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Wei Dong, Ye Ding, Jie Huang, Xiangyang Zhu, Han Ding
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2017, 139(6): 061012.
Paper No: DS-16-1245
https://doi.org/10.1115/1.4035453
Published Online: April 13, 2017
View Articletitled, An Efficient Approach of Time-Optimal Trajectory Generation for the Fully Autonomous Navigation of the Quadrotor
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Topics: Trajectories (Physics), Navigation, Control equipment, Interpolation
Journal Articles

Direct Integration Method for Time-Delayed Control of Second-Order Dynamic Systems

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Zhijie Wen, Ye Ding, Pinkuan Liu, Han Ding
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2017, 139(6): 061001.
Paper No: DS-15-1660
https://doi.org/10.1115/1.4035359
Published Online: March 22, 2017
View Articletitled, Direct Integration Method for Time-Delayed Control of Second-Order Dynamic Systems
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Topics: Control equipment, Design, Optimization, Stability, Dynamic systems, Volterra equations
Journal Articles

Differential Quadrature Method for Stability and Sensitivity Analysis of Neutral Delay Differential Systems

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Wei Dong, Ye Ding, Xiangyang Zhu, Han Ding
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. April 2017, 139(4): 044504.
Paper No: DS-15-1589
https://doi.org/10.1115/1.4035167
Published Online: February 13, 2017
View Articletitled, Differential Quadrature Method for Stability and Sensitivity Analysis of Neutral Delay Differential Systems
Open the PDF for Differential Quadrature Method for Stability and Sensitivity Analysis of Neutral Delay Differential Systems in another window
Topics: Delays, Stability, Poles (Building), Control equipment, Optimal control
Journal Articles

Dynamics and Stability Prediction of Five-Axis Flat-End Milling

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YaoAn Lu, Ye Ding, LiMin Zhu
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Research-Article
J. Manuf. Sci. Eng. June 2017, 139(6): 061015.
Paper No: MANU-16-1453
https://doi.org/10.1115/1.4035422
Published Online: February 8, 2017
View Articletitled, Dynamics and Stability Prediction of Five-Axis Flat-End Milling
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Topics: Cutting, Milling, Stability, Dynamics (Mechanics)
Journal Articles

Stability Analysis of Milling Processes With Periodic Spindle Speed Variation Via the Variable-Step Numerical Integration Method

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Jinbo Niu, Ye Ding, LiMin Zhu, Han Ding
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Technical Briefs
J. Manuf. Sci. Eng. November 2016, 138(11): 114501.
Paper No: MANU-15-1521
https://doi.org/10.1115/1.4033043
Published Online: June 23, 2016
View Articletitled, Stability Analysis of Milling Processes With Periodic Spindle Speed Variation Via the Variable-Step Numerical Integration Method
Open the PDF for Stability Analysis of Milling Processes With Periodic Spindle Speed Variation Via the Variable-Step Numerical Integration Method in another window
Topics: Milling, Stability, Variable structure systems, Delays
Journal Articles

Smooth Tool Path Optimization for Flank Milling Based on the Gradient-Based Differential Evolution Method

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YaoAn Lu, Ye Ding, LiMin Zhu
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Research-Article
J. Manuf. Sci. Eng. August 2016, 138(8): 081009.
Paper No: MANU-15-1399
https://doi.org/10.1115/1.4032969
Published Online: April 7, 2016
View Articletitled, Smooth Tool Path Optimization for Flank Milling Based on the Gradient-Based Differential Evolution Method
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Topics: Algorithms, Machine tools, Machining, Milling, Optimization, Trajectories (Physics), Design