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Volume 3, Issue 1

February 2011

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ISSN 1942-4302

EISSN 1942-4310

In this Issue

Editorial
Research Papers
Research Papers
Technical Briefs

Editorial

Kinematics, Polynomials, and Computers—A Brief History

J. Michael McCarthy

J. Mechanisms Robotics. February 2011, 3(1): 010201. doi: https://doi.org/10.1115/1.4003039

Extract

View articletitled, Kinematics, Polynomials, and Computers—A Brief History

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Topics: Computers , Kinematics , Polynomials

Research Papers

An Intrinsic Geometric Framework for the Building Block Synthesis of Single Point Compliant Mechanisms

Girish Krishnan, Charles Kim, Sridhar Kota

J. Mechanisms Robotics. February 2011, 3(1): 011001. doi: https://doi.org/10.1115/1.4002513

Abstract

View articletitled, An Intrinsic Geometric Framework for the Building Block Synthesis of Single Point Compliant Mechanisms

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Topics: Blocks (Building materials) , Elasticity , Stiffness

Formulation of Unique Form of Screw Based Jacobian for Lower Mobility Parallel Manipulators

Man Bok Hong, Yong Je Choi

J. Mechanisms Robotics. February 2011, 3(1): 011002. doi: https://doi.org/10.1115/1.4002696

Abstract

View articletitled, Formulation of Unique Form of Screw Based Jacobian for Lower Mobility Parallel Manipulators

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Topics: Chain , Manipulators , Mechanical admittance , Screws , Statics , Kinematic chains

Type Synthesis of Parallel Mechanisms Having the Second Class $G_{F}$ Sets and Two Dimensional Rotations

Feng Gao, Jialun Yang, Qiaode Jeffrey Ge

J. Mechanisms Robotics. February 2011, 3(1): 011003. doi: https://doi.org/10.1115/1.4002697

Abstract

View articletitled, Type Synthesis of Parallel Mechanisms Having the Second Class <math xmlns="http://www.w3.org/1998/Math/MathML"><mrow xmlns=""><msub><mi>G</mi><mi>F</mi></msub></mrow></math> Sets and Two Dimensional Rotations

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Topics: Algorithms , End effectors , Kinematics , Parallel mechanisms , Theorems (Mathematics) , Rotation , Design

Singularity Analysis of Large Workspace 3RRRS Parallel Mechanism Using Line Geometry and Linear Complex Approximation

Alon Wolf, Daniel Glozman

J. Mechanisms Robotics. February 2011, 3(1): 011004. doi: https://doi.org/10.1115/1.4002815

Abstract

View articletitled, Singularity Analysis of Large Workspace 3RRRS Parallel Mechanism Using Line Geometry and Linear Complex Approximation

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Topics: Geometry , Jacobian matrices , Kinematics , Manipulators , Parallel mechanisms , Screws , Robots , Degrees of freedom , Approximation

Kinematics Analysis of Some Linear Legs With Different Structures for Limited-DOF Parallel Manipulators

Yi Lu, Bo Hu, Jianda Han, Jianping Yu

J. Mechanisms Robotics. February 2011, 3(1): 011005. doi: https://doi.org/10.1115/1.4002694

Abstract

View articletitled, Kinematics Analysis of Some Linear Legs With Different Structures for Limited-DOF Parallel Manipulators

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Topics: Kinematics , Cylinders , Manipulators

Forward Displacement Analysis of a Linearly Actuated Quadratic Spherical Parallel Manipulator

Xianwen Kong, Clément Gosselin, James M. Ritchie

J. Mechanisms Robotics. February 2011, 3(1): 011007. doi: https://doi.org/10.1115/1.4003079

Abstract

View articletitled, Forward Displacement Analysis of a Linearly Actuated Quadratic Spherical Parallel Manipulator

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Topics: Displacement , Food and Drug Administration , Frequency-domain analysis , Manipulators , Polynomials , Manufacturing

Twelve Degree of Freedom Baby Humanoid Head Using Shape Memory Alloy Actuators

Yonas Tadesse, Dennis Hong, Shashank Priya

J. Mechanisms Robotics. February 2011, 3(1): 011008. doi: https://doi.org/10.1115/1.4003005

Abstract

View articletitled, Twelve Degree of Freedom Baby Humanoid Head Using Shape Memory Alloy Actuators

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Topics: Actuators , Shape memory alloys , Skin , Wire , Pulleys , Stress

On Line Screw Systems and Their Application to Flexure Synthesis

Hai-Jun Su, Hafez Tari

J. Mechanisms Robotics. February 2011, 3(1): 011009. doi: https://doi.org/10.1115/1.4003078

Abstract

View articletitled, On Line Screw Systems and Their Application to Flexure Synthesis

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Topics: Screws , Bending (Stress)

Maximally Regular $T 2 R 1$ -Type Parallel Manipulators With Bifurcated Spatial Motion

Grigore Gogu

J. Mechanisms Robotics. February 2011, 3(1): 011010. doi: https://doi.org/10.1115/1.4003180

Abstract

View articletitled, Maximally Regular <math xmlns="http://www.w3.org/1998/Math/MathML"><mrow xmlns=""><mi>T</mi><mn>2</mn><mi>R</mi><mn>1</mn></mrow></math>-Type Parallel Manipulators With Bifurcated Spatial Motion

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Topics: Manipulators , Parallel mechanisms , Mechanical admittance , Bifurcation

Mobility Criteria of Planar Single-Loop N-Bar Chains With Prismatic Joints

Changyu Xue, Kwun-Lon Ting, Jun Wang

J. Mechanisms Robotics. February 2011, 3(1): 011011. doi: https://doi.org/10.1115/1.4003269

Abstract

View articletitled, Mobility Criteria of Planar Single-Loop N-Bar Chains With Prismatic Joints

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Topics: Chain

Mechanism State Matrices for Planar Reconfigurable Mechanisms

Brian J. Slaboch, Philip A. Voglewede

J. Mechanisms Robotics. February 2011, 3(1): 011012. doi: https://doi.org/10.1115/1.4003270

Abstract

View articletitled, Mechanism State Matrices for Planar Reconfigurable Mechanisms

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Topics: Degrees of freedom , Kinematics , Linkages , Topology

An Approach for Acceleration Analysis of Lower Mobility Parallel Manipulators

Haitao Liu, Tian Huang, Derek G. Chetwynd

J. Mechanisms Robotics. February 2011, 3(1): 011013. doi: https://doi.org/10.1115/1.4003271

Abstract

View articletitled, An Approach for Acceleration Analysis of Lower Mobility Parallel Manipulators

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Topics: Manipulators , Mechanical admittance

Nonsingular Spherically Constrained Clemens Linkage Wrist

Paul Milenkovic

J. Mechanisms Robotics. February 2011, 3(1): 011014. doi: https://doi.org/10.1115/1.4003415

Abstract

View articletitled, Nonsingular Spherically Constrained Clemens Linkage Wrist

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Topics: Deflection , Kinematics , Linkages , Rotation , Yaw

Stiffness Evaluation of Machines and Robots: Minimum Collinear Stiffness Value Approach

Vladimir T. Portman

J. Mechanisms Robotics. February 2011, 3(1): 011015. doi: https://doi.org/10.1115/1.4003444

Abstract

View articletitled, Stiffness Evaluation of Machines and Robots: Minimum Collinear Stiffness Value Approach

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Topics: Stiffness , Machinery

Research Papers

On the Manifold Property of the Set of Singularities of Kinematic Mappings: Modeling, Classification, and Genericity

Andreas Müller

J. Mechanisms Robotics. February 2011, 3(1): 011006. doi: https://doi.org/10.1115/1.4002695

Abstract

View articletitled, On the Manifold Property of the Set of Singularities of Kinematic Mappings: Modeling, Classification, and Genericity

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Topics: Kinematics , Manifolds , Deformation , Geometry , Kinematic chains

Technical Briefs

Series Solution for Finite Displacement of Planar Four-Bar Linkages

Paul Milenkovic

J. Mechanisms Robotics. February 2011, 3(1): 014501. doi: https://doi.org/10.1115/1.4002693

Abstract

View articletitled, Series Solution for Finite Displacement of Planar Four-Bar Linkages

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Topics: Differential equations , Displacement , Kinematics , Linkages , Screws , Trains , Approximation , Equilibrium (Physics)

A Note on the Screw Triangle

David Zarrouk, Moshe Shoham

J. Mechanisms Robotics. February 2011, 3(1): 014502. doi: https://doi.org/10.1115/1.4002943

Abstract

View articletitled, A Note on the Screw Triangle

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Topics: Screws

A Case Study in Optimization of Gait and Physical Parameters for a Snake-Inspired Robot Based on a Rectilinear Gait

James K. Hopkins, Brent W. Spranklin, Satyandra K. Gupta

J. Mechanisms Robotics. February 2011, 3(1): 014503. doi: https://doi.org/10.1115/1.4003077

Abstract

View articletitled, A Case Study in Optimization of Gait and Physical Parameters for a Snake-Inspired Robot Based on a Rectilinear Gait

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Topics: Optimization , Robots

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Editorial

Kinematics, Polynomials, and Computers—A Brief History

Research Papers

An Intrinsic Geometric Framework for the Building Block Synthesis of Single Point Compliant Mechanisms

Formulation of Unique Form of Screw Based Jacobian for Lower Mobility Parallel Manipulators

Type Synthesis of Parallel Mechanisms Having the Second Class $G_{F}$ Sets and Two Dimensional Rotations

Singularity Analysis of Large Workspace 3RRRS Parallel Mechanism Using Line Geometry and Linear Complex Approximation

Kinematics Analysis of Some Linear Legs With Different Structures for Limited-DOF Parallel Manipulators

Forward Displacement Analysis of a Linearly Actuated Quadratic Spherical Parallel Manipulator

Twelve Degree of Freedom Baby Humanoid Head Using Shape Memory Alloy Actuators

On Line Screw Systems and Their Application to Flexure Synthesis

Maximally Regular $T 2 R 1$ -Type Parallel Manipulators With Bifurcated Spatial Motion

Mobility Criteria of Planar Single-Loop N-Bar Chains With Prismatic Joints

Mechanism State Matrices for Planar Reconfigurable Mechanisms

An Approach for Acceleration Analysis of Lower Mobility Parallel Manipulators

Nonsingular Spherically Constrained Clemens Linkage Wrist

Stiffness Evaluation of Machines and Robots: Minimum Collinear Stiffness Value Approach

Research Papers

On the Manifold Property of the Set of Singularities of Kinematic Mappings: Modeling, Classification, and Genericity

Technical Briefs

Series Solution for Finite Displacement of Planar Four-Bar Linkages

A Note on the Screw Triangle

A Case Study in Optimization of Gait and Physical Parameters for a Snake-Inspired Robot Based on a Rectilinear Gait

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