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Journal Articles

Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand

Yen-Hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Zhongtao Fu, Shuangjia Xu, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051018.
Paper No: JMR-21-1754
DOI: https://doi.org/10.1115/1.4062238
Published Online: May 2, 2023
View Article titled, Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand
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Topics: Friction, Design, Robotics, End effectors
Journal Articles

Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation

Justin Quan, Dennis Hong
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031009.
Paper No: JMR-22-1267
DOI: https://doi.org/10.1115/1.4062150
Published Online: April 18, 2023
View Article titled, Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation
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Topics: End effectors, Kinematics, Mechanical admittance, Springs, Stress, Design, Shapes, Weight (Mass), Mobile robots, Engineering prototypes
Journal Articles

Sensor-Less Grasping Force Control of a Pneumatic Underactuated Robotic Gripper

Hongliang Hua, Jie Song, Jingbo Zhao, Zhenqiang Liao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031005.
Paper No: JMR-22-1246
DOI: https://doi.org/10.1115/1.4056955
Published Online: March 8, 2023
View Article titled, Sensor-Less Grasping Force Control of a Pneumatic Underactuated Robotic Gripper
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Topics: Force control, Grasping, Modeling, Pressure, Sensors, End effectors
Journal Articles

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

Abdur Rosyid, Cesare Stefanini, Bashar El-Khasawneh
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061016.
Paper No: JMR-22-1235
DOI: https://doi.org/10.1115/1.4056682
Published Online: February 9, 2023
View Article titled, A Novel Walking Parallel Robot for On-Structure Three-Axis Machining of Large Structures
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Topics: Kinematics, Robots, Machining, End effectors
Journal Articles

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

P. Seguin, C. Preault, P. Vulliez, J. P. Gazeau
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2023, 15(6): 065001.
Paper No: JMR-21-1569
DOI: https://doi.org/10.1115/1.4056404
Published Online: January 18, 2023
View Article titled, 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
Journal Articles

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

Sri Sadhan Jujjavarapu, Hemanth Manjunatha, Ehsan Tarkesh Esfahani
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061003.
Paper No: JMR-22-1198
DOI: https://doi.org/10.1115/1.4056235
Published Online: January 17, 2023
View Article titled, 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
Journal Articles

Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints

Yifan Huang, Lei Yan, Taiwei Yang, Zhonghua Hu, Wenfu Xu
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2023, 15(5): 055001.
Paper No: JMR-22-1109
DOI: https://doi.org/10.1115/1.4055934
Published Online: November 24, 2022
View Article titled, Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints
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Topics: Cables, End effectors, Kinematics, Trajectories (Physics), Design, Motion control
Journal Articles

Position-Access Workspace of Slender Soft Manipulators

Walid Amehri, Gang Zheng, Alexandre Kruszewski
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061001.
Paper No: JMR-21-1347
DOI: https://doi.org/10.1115/1.4054840
Published Online: September 12, 2022
View Article titled, Position-Access Workspace of Slender Soft Manipulators
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Topics: Manipulators, Tendons, End effectors
Journal Articles

Design, Analysis, and Experiment of an Underactuated Robotic Gripper Actuated by Linear Series Elastic Actuator

Hongliang Hua, Zhenqiang Liao, Jingbo Zhao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021002.
Paper No: JMR-21-1429
DOI: https://doi.org/10.1115/1.4054609
Published Online: June 20, 2022
View Article titled, Design, Analysis, and Experiment of an Underactuated Robotic Gripper Actuated by Linear Series Elastic Actuator
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Topics: Grasping, End effectors
Journal Articles

Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator

Ahmed Soliman, Guilherme A. Ribeiro, Dongming Gan, Mo Rastgaar
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014502.
Paper No: JMR-21-1281
DOI: https://doi.org/10.1115/1.4053825
Published Online: May 12, 2022
View Article titled, Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator
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Topics: Design, Manipulators, Trajectories (Physics), End effectors, Errors, Prostheses
Journal Articles

Algorithmic Selection of Preferred Grasp Poses Using Manipulability Ellipsoid Forms

Rajesh Kumar, Sudipto Mukherjee
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051006.
Paper No: JMR-21-1173
DOI: https://doi.org/10.1115/1.4053374
Published Online: February 18, 2022
View Article titled, Algorithmic Selection of Preferred Grasp Poses Using Manipulability Ellipsoid Forms
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Topics: Algorithms, Kinematics, Robotics, Rotation, Eigenvalues, End effectors, Grasping
Journal Articles

Comparison of Under-Actuated and Fully Actuated Serial Robotic Arms: A Case Study

Matteo Bottin, Giulio Rosati
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. June 2022, 14(3): 034503.
Paper No: JMR-21-1261
DOI: https://doi.org/10.1115/1.4053046
Published Online: December 9, 2021
View Article titled, Comparison of Under-Actuated and Fully Actuated Serial Robotic Arms: A Case Study
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Topics: Actuators, Robots, Vibration, Trajectories (Physics), Springs, Design, Manipulators, End effectors
Journal Articles

A Flexure-Based Linear Guide With Torsion Reinforcement Structures

J. Rommers, M. Naves, D. M. Brouwer, J. L. Herder
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031013.
Paper No: JMR-21-1127
DOI: https://doi.org/10.1115/1.4052971
Published Online: December 8, 2021
View Article titled, A Flexure-Based Linear Guide With Torsion Reinforcement Structures
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Topics: Bending (Stress), Design, End effectors, Engineering prototypes, Optimization, Springs, Stiffness, Torsion, Stress
Journal Articles

Research on the Orientation Error of the Translational Cable-Driven Parallel Robots

Guangqiang Xie, Zhaokun Zhang, Zhufeng Shao, Liping Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031003.
Paper No: JMR-21-1026
DOI: https://doi.org/10.1115/1.4052848
Published Online: November 16, 2021
View Article titled, Research on the Orientation Error of the Translational Cable-Driven Parallel Robots
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Topics: Cables, End effectors, Errors, Robots, Kinematics
Journal Articles

Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects

Rajesh Kumar, Sudipto Mukherjee
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021005.
Paper No: JMR-21-1189
DOI: https://doi.org/10.1115/1.4052323
Published Online: September 21, 2021
View Article titled, Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects
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Topics: Algorithms, End effectors, Friction, Grasping, Robotics, Rotation, Simulation, Kinematics, Robots, Fixturing
Journal Articles

Design of a Parallel Gripper Based on Topology Synthesis and Evolutionary Optimization

I-Ting Chi, Teeranoot Chanthasopeephan, Dung-An Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021008.
Paper No: JMR-21-1153
DOI: https://doi.org/10.1115/1.4052335
Published Online: September 21, 2021
View Article titled, Design of a Parallel Gripper Based on Topology Synthesis and Evolutionary Optimization
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Topics: Design, Displacement, End effectors, Grippers, Optimization, Topology, Compliant mechanisms, Finite element analysis
Journal Articles

On Robust Mechanical Design of a PAR2 Delta-Like Parallel Kinematic Manipulator

Allaoua Brahmia, Ridha Kelaiaia, Ahmed Chemori, Olivier Company
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011001.
Paper No: JMR-21-1145
DOI: https://doi.org/10.1115/1.4051360
Published Online: July 5, 2021
View Article titled, On Robust Mechanical Design of a PAR2 Delta-Like Parallel Kinematic Manipulator
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Topics: Design, Kinematics, Manipulators, Optimization, Robots, Errors, Dimensions, End effectors
Journal Articles

Design, Dynamic Analysis, and Experimental Evaluation of a Hybrid Parallel–Serial Polishing Machine With Decoupled Motions

Peng Xu, Chi Fai Cheung, Bing Li, Chunjin Wang, Chenyang Zhao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061008.
Paper No: JMR-20-1553
DOI: https://doi.org/10.1115/1.4050829
Published Online: June 3, 2021
View Article titled, Design, Dynamic Analysis, and Experimental Evaluation of a Hybrid Parallel–Serial Polishing Machine With Decoupled Motions
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Topics: Design, Dynamic analysis, Kinematics, Polishing, End effectors, Machinery, Machining, Dynamic models, Simulation
Journal Articles

Synthesis of Watt-Type Timed Curve Generators and Selection From Continuous Cognate Spaces

Aravind Baskar, Mark Plecnik
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 051003.
Paper No: JMR-20-1357
DOI: https://doi.org/10.1115/1.4050197
Published Online: May 20, 2021
View Article titled, Synthesis of Watt-Type Timed Curve Generators and Selection From Continuous Cognate Spaces
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Topics: Design, Generators, Linkages, Polynomials, Tradeoffs, Clearances (Engineering), Rotation, End effectors, Space, Kinematics
Journal Articles

Connectivity Calculation-Based Automatic Synthesis of Planar Multi-Loop Mechanisms

Peng Huang, Huafeng Ding, Wenjian Yang, Gongyue Xu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041004.
Paper No: JMR-20-1358
DOI: https://doi.org/10.1115/1.4049977
Published Online: April 9, 2021
View Article titled, Connectivity Calculation-Based Automatic Synthesis of Planar Multi-Loop Mechanisms
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Topics: End effectors, Kinematic chains, Topology, Trenching machinery