Volume 15 Issue 6 | J. Mechanisms Robotics

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Editorial

Announcing the 2022 Best Paper Award and Honorable Mentions

Venkat Krovi

J. Mechanisms Robotics. December 2023, 15(6): 060201. doi: https://doi.org/10.1115/1.4063372

Extract

View articletitled, Announcing the 2022 Best Paper Award and Honorable Mentions

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Topics: Actuators , Composite materials , End effectors , Modeling , Robotics , Robots

Research Papers

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

Thibaut Paty, Nicolas Binaud, Hong Wang, Stéphane Segonds

J. Mechanisms Robotics. December 2023, 15(6): 061001. doi: https://doi.org/10.1115/1.4056234

Abstract

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

Dynamic Stiffness Matrix With Timoshenko Beam Theory and Linear Frequency Solution for Use in Compliant Mechanisms

Mingxiang Ling, Hao Zhou, Liguo Chen

J. Mechanisms Robotics. December 2023, 15(6): 061002. doi: https://doi.org/10.1115/1.4056236

Abstract

View articletitled, Dynamic Stiffness Matrix With Timoshenko Beam Theory and Linear Frequency Solution for Use in Compliant Mechanisms

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Topics: Bending (Stress) , Compliant mechanisms , Stiffness , Displacement , Timoshenko beam theory

A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators

Sri Sadhan Jujjavarapu, Hemanth Manjunatha, Ehsan Tarkesh Esfahani

J. Mechanisms Robotics. December 2023, 15(6): 061003. doi: https://doi.org/10.1115/1.4056235

Abstract

View articletitled, A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators

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Topics: Hammers , Magnets , Robots , Stiffness , Trajectories (Physics) , End effectors , Manipulators , Optimization , Displacement , Energy storage

Kinematics and Statics of a 3-UPU Robot in Screw Coordinates

Jing-Shan Zhao, Song-Tao Wei, Han-Lin Sun

J. Mechanisms Robotics. December 2023, 15(6): 061004. doi: https://doi.org/10.1115/1.4056237

Abstract

View articletitled, Kinematics and Statics of a 3-<em>UPU</em> Robot in Screw Coordinates

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Topics: Kinematics , Robots , Screws , Statics , Kinematic chains

A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom

Jihui Li, Zhenyuan Yu, Zhiwei Zhu, Zichen Deng

J. Mechanisms Robotics. December 2023, 15(6): 061005. doi: https://doi.org/10.1115/1.4056252

Abstract

View articletitled, A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom

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Topics: Cables , Design , Engineering prototypes , Engines , Hinges , Kinematics , Linkages , Manipulators , Manufacturing , Motors

Self-Adaptive Grasping Analysis of a Simulated “Soft” Mechanical Grasper Capable of Self-Locking

Rugui Wang, Haibo Huang, Xinpeng Li

J. Mechanisms Robotics. December 2023, 15(6): 061006. doi: https://doi.org/10.1115/1.4056377

Abstract

View articletitled, Self-Adaptive Grasping Analysis of a Simulated “Soft” Mechanical Grasper Capable of Self-Locking

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Topics: Grasping , Kinematics

Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism

Fanyi Guo, Zhili Sun, Shengnan Zhang, Runan Cao, Haiyang Li

J. Mechanisms Robotics. December 2023, 15(6): 061007. doi: https://doi.org/10.1115/1.4056376

Abstract

View articletitled, Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism

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Topics: Damping , Stiffness , Displacement , Event history analysis , Excitation , Optimization , Failure , Probability , Reliability , Frequency response

Topology Optimization Method for Designing Compliant Mechanism With Given Constant Force Range

Junwen Liang, Xianmin Zhang, Benliang Zhu, Hongchuan Zhang, Rixin Wang

J. Mechanisms Robotics. December 2023, 15(6): 061008. doi: https://doi.org/10.1115/1.4056379

Abstract

View articletitled, Topology Optimization Method for Designing Compliant Mechanism With Given Constant Force Range

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Topics: Design , Optimization , Topology optimization , Displacement , Finite element analysis , Density , Compliant mechanisms

Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes

Tomasz Piatkowski

J. Mechanisms Robotics. December 2023, 15(6): 061009. doi: https://doi.org/10.1115/1.4056380

Abstract

View articletitled, Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes

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Topics: Conveyor systems , Friction , Rollers

An Analytical Stress–Deflection Model for Fixed-Clamped Flexures Using a Pseudo-Rigid-Body Approach

Connor Huxman, Jared Butler

J. Mechanisms Robotics. December 2023, 15(6): 061010. doi: https://doi.org/10.1115/1.4056381

Abstract

View articletitled, An Analytical Stress–Deflection Model for Fixed-Clamped Flexures Using a Pseudo-Rigid-Body Approach

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Topics: Bending (Stress) , Deflection , Stress , Finite element analysis

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

Xiaokang Xu, Liang Cheng, Yingjie Guo, Jiangxiong Li, Yinglin Ke

J. Mechanisms Robotics. December 2023, 15(6): 061011. doi: https://doi.org/10.1115/1.4056405

Abstract

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

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Topics: Errors , Robots , Deformation , Kinematics

Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms

Ke Wu, Gang Zheng, Guimin Chen

J. Mechanisms Robotics. December 2023, 15(6): 061012. doi: https://doi.org/10.1115/1.4056501

Abstract

View articletitled, Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms

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Topics: Compliant mechanisms , Deflection , Modeling , Timoshenko beam theory , Shear (Mechanics)

Kinetostatic Analysis of Pneumatic Bending Soft Actuator Coupling With Revolute Joint

Jiangbei Wang, Yuxuan Wang, Yanqiong Fei, Weidong Chen

J. Mechanisms Robotics. December 2023, 15(6): 061013. doi: https://doi.org/10.1115/1.4056503

Abstract

View articletitled, Kinetostatic Analysis of Pneumatic Bending Soft Actuator Coupling With Revolute Joint

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Topics: Actuators , Torque , Pressure

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu

J. Mechanisms Robotics. December 2023, 15(6): 061014. doi: https://doi.org/10.1115/1.4056577

Abstract

View articletitled, Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

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Topics: Actuators , Control equipment , Dynamics (Mechanics) , Errors , Manifolds , Manipulators , Simulation , Sliding mode control , Tendons , Tracking control

Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures

Jianguo Cai, Qiuyue Zhong, Xiaohui Zhang, Kexin Wang, Qian Zhang, Jian Feng

J. Mechanisms Robotics. December 2023, 15(6): 061015. doi: https://doi.org/10.1115/1.4056576

Abstract

View articletitled, Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures

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Topics: Bifurcation , Kinematics , Mechanical admittance , Plates (structures) , Degrees of freedom , Jacobian matrices , Trajectories (Physics)

A Novel Walking Parallel Robot for On-Structure Three-Axis Machining of Large Structures

Abdur Rosyid, Cesare Stefanini, Bashar El-Khasawneh

J. Mechanisms Robotics. December 2023, 15(6): 061016. doi: https://doi.org/10.1115/1.4056682

Abstract

View articletitled, A Novel Walking Parallel Robot for On-Structure Three-Axis Machining of Large Structures

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Topics: Kinematics , Robots , Machining , End effectors

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

J. Mechanisms Robotics. December 2023, 15(6): 061017. doi: https://doi.org/10.1115/1.4062353

Abstract

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

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Topics: Ditches , Robots , Simulation

Design and Validation of Symmetrical Elastic Elements in Series Elastic Actuator

Ruzhen Pei, Xibin Cao, Cheng Wei

J. Mechanisms Robotics. December 2023, 15(6): 061018. doi: https://doi.org/10.1115/1.4062274

Abstract

View articletitled, Design and Validation of Symmetrical Elastic Elements in Series Elastic Actuator

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Topics: Design , Shapes , Stiffness , Actuators , Fittings

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

Christian DeBuys, Florin C. Ghesu, Jagadeesan Jayender, Reza Langari, Young-Ho Kim

J. Mechanisms Robotics. December 2023, 15(6): 061019. doi: https://doi.org/10.1115/1.4062354

Abstract

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

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Topics: Errors , Kinematics , Manipulators , Tendons , Tension , Robots , Design

Technical Briefs

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

Fujie Yu, Qilong Zhu, Yuan Chen

J. Mechanisms Robotics. December 2023, 15(6): 064501. doi: https://doi.org/10.1115/1.4056378

Abstract

View articletitled, 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

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai

J. Mechanisms Robotics. December 2023, 15(6): 064502. doi: https://doi.org/10.1115/1.4056502

Abstract

View articletitled, Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

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Topics: Cables , Calibration , Degrees of freedom , Design , Laparoscopic devices , Robotics , Robots , Surgery , Motion control , Finite element analysis

Design Innovation Paper

Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand

P. Seguin, C. Preault, P. Vulliez, J. P. Gazeau

J. Mechanisms Robotics. December 2023, 15(6): 065001. doi: https://doi.org/10.1115/1.4056404

Abstract

View articletitled, Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand

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Topics: End effectors , Grasping , Grippers , Robotics , Rotation , Trajectories (Physics) , Robots , Design , Errors

Editorial

Announcing the 2022 Best Paper Award and Honorable Mentions

Research Papers

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

Dynamic Stiffness Matrix With Timoshenko Beam Theory and Linear Frequency Solution for Use in Compliant Mechanisms

A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators

Kinematics and Statics of a 3-UPU Robot in Screw Coordinates

A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom

Self-Adaptive Grasping Analysis of a Simulated “Soft” Mechanical Grasper Capable of Self-Locking

Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism

Topology Optimization Method for Designing Compliant Mechanism With Given Constant Force Range

Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes

An Analytical Stress–Deflection Model for Fixed-Clamped Flexures Using a Pseudo-Rigid-Body Approach

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

Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms

Kinetostatic Analysis of Pneumatic Bending Soft Actuator Coupling With Revolute Joint

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures

A Novel Walking Parallel Robot for On-Structure Three-Axis Machining of Large Structures

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

Design and Validation of Symmetrical Elastic Elements in Series Elastic Actuator

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

Technical Briefs

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

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Design Innovation Paper

Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand

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