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Journal Articles

Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation

Sajeeva Abeywardena, Eisa Anwar, Stuart Charles Miller, Ildar Farkhatdinov
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061007.
Paper No: JMR-23-1039
https://doi.org/10.1115/1.4063094
Published Online: August 31, 2023
View Article titled, Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation
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Topics: Kinematics, Robotics, Simulation, Torque, Trajectories (Physics), Inertia (Mechanics), Design, Dynamics (Mechanics), Actuators, Displacement
Includes: Supplementary data
Journal Articles

Mechanically Prestressed Pneumatically Driven Bistable Soft Actuators

Yitong Zhou, Zefeng Xu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051006.
Paper No: JMR-23-1174
https://doi.org/10.1115/1.4062949
Published Online: July 20, 2023
View Article titled, Mechanically Prestressed Pneumatically Driven Bistable Soft Actuators
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Topics: Actuators, Shapes, Pressure
Journal Articles

Conceptual Design of a Novel Particle-Based Soft Grasping Gripper

Qianyi Chen, Dingena Schott, Jovana Jovanova
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051004.
Paper No: JMR-22-1578
https://doi.org/10.1115/1.4062647
Published Online: June 26, 2023
View Article titled, Conceptual Design of a Novel Particle-Based Soft Grasping Gripper
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Topics: Actuators, Grippers, Membranes, Particulate matter, Shrinkage (Materials), Design, Grasping, Deflection, Conceptual design, Deformation
Journal Articles

Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction

Bowen Zheng, Pengpeng Xu, Zhaoqi Guo, Longhan Xie
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041009.
Paper No: JMR-22-1596
https://doi.org/10.1115/1.4062499
Published Online: June 9, 2023
View Article titled, Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction
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Topics: Deflection, Stiffness, Torque, Motors, Springs, Actuators, Torsion, Origami-inspired design
Journal Articles

Kinematic Modeling and Open-Loop Control of a Twisted String Actuator-Driven Soft Robotic Manipulator

Revanth Konda, David Bombara, Ember Chow, Jun Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041007.
Paper No: JMR-22-1603
https://doi.org/10.1115/1.4062466
Published Online: June 5, 2023
View Article titled, Kinematic Modeling and Open-Loop Control of a Twisted String Actuator-Driven Soft Robotic Manipulator
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Topics: Actuators, Kinematics, Manipulators, Motors, String, Modeling
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
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

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
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

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
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

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
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
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Topics: Actuators, Control equipment, Inertia (Mechanics), Ships, Waves, Dynamics (Mechanics), Design, Stress, Errors, Dynamic models
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
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

Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds

Azadeh Shariati, Helge A. Wurdemann
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031007.
Paper No: JMR-22-1179
https://doi.org/10.1115/1.4056970
Published Online: March 28, 2023
View Article titled, Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds
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Topics: Actuators, Design, Vocal cords, Dynamics (Mechanics)
Journal Articles

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
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064502.
Paper No: JMR-22-1356
https://doi.org/10.1115/1.4056502
Published Online: January 23, 2023
View Article titled, 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
Journal Articles

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

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061014.
Paper No: JMR-22-1409
https://doi.org/10.1115/1.4056577
Published Online: January 23, 2023
View Article titled, 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
Journal Articles

Kinetostatic Analysis of Pneumatic Bending Soft Actuator Coupling With Revolute Joint

Jiangbei Wang, Yuxuan Wang, Yanqiong Fei, Weidong Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061013.
Paper No: JMR-22-1372
https://doi.org/10.1115/1.4056503
Published Online: January 23, 2023
View Article titled, Kinetostatic Analysis of Pneumatic Bending Soft Actuator Coupling With Revolute Joint
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Topics: Actuators, Torque, Pressure
Journal Articles

Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips

Ho Sang Jung, Ji Yeop Kim, Sang Yul Yang, Kihyeon Kim, Jae Hyeong Park, Young Jin Gong, Seung Jae Moon, Hyouk Ryeol Choi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051015.
Paper No: JMR-22-1075
https://doi.org/10.1115/1.4055933
Published Online: December 9, 2022
View Article titled, Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips
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Topics: Grippers, Shapes, Actuators, Control equipment
Includes: Supplementary data
Journal Articles

A Dynamic Loading Mechanism for a Morphing Winglet

Raffi S. Buchkazanian, Gabriel H. Campos, Fengfeng (Jeff) Xi
Journal: Journal of Mechanisms and Robotics
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
View Article titled, A Dynamic Loading Mechanism for a Morphing Winglet
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Topics: Design, Dynamic testing (Materials), Stress, Actuators, Weight (Mass), Linkages
Journal Articles

Realization of a Gear-Spring Balancer With Variable Payloads and Its Application to Serial Robots

Vu Linh Nguyen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041013.
Paper No: JMR-22-1114
https://doi.org/10.1115/1.4055739
Published Online: November 15, 2022
View Article titled, Realization of a Gear-Spring Balancer With Variable Payloads and Its Application to Serial Robots
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Topics: Design, Gears, Robots, Springs, Torque, Actuators, Stiffness
Journal Articles

A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper

Omer Faruk Argin, Ozan Kaya, Zeki Yagiz Bayraktaroglu, Seniz Ertugrul
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041011.
Paper No: JMR-21-1553
https://doi.org/10.1115/1.4055570
Published Online: November 14, 2022
View Article titled, A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper
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Topics: Actuators, Grippers, Haptics, Manipulators
Journal Articles

Mechanical Characterization of Compliant Cellular Robots. Part I: Passive Stiffness

Gaurav Singh, Ahsan Nawroj, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021012.
Paper No: JMR-21-1510
https://doi.org/10.1115/1.4054615
Published Online: June 23, 2022
View Article titled, Mechanical Characterization of Compliant Cellular Robots. Part I: Passive Stiffness
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Topics: Actuators, Design, Poisson ratio, Robots, Shear modulus, Stiffness, Topology, Young's modulus, Materials properties, Robotics
Journal Articles

Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain

Gaurav Singh, Ahsan Nawroj, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021013.
Paper No: JMR-21-1511
https://doi.org/10.1115/1.4054613
Published Online: June 23, 2022
View Article titled, Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain
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Topics: Actuators, Deformation, Finite element analysis, Robots, Topology, Design, Stiffness, Shapes