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Journal Articles

Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism

Hao Pan, Shujie Tang, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071015.
Paper No: JMR-23-1104
https://doi.org/10.1115/1.4063870
Published Online: November 14, 2023
View Article titled, Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism
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Topics: End effectors, Force control, Parallel mechanisms, Statics, Stiffness, Jacobian matrices, Simulation, Rods, Kinematics
Journal Articles

Announcing the 2022 Best Paper Award and Honorable Mentions

Venkat Krovi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics. December 2023, 15(6): 060201.
Paper No: JMR-23-1487
https://doi.org/10.1115/1.4063372
Published Online: October 17, 2023
View Article titled, Announcing the 2022 Best Paper Award and Honorable Mentions
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Topics: Actuators, Composite materials, End effectors, Modeling, Robotics, Robots
Journal Articles

Analysis and Validation of a Flexible Limb/Cable Hybrid-Driven Parallel Continuum Manipulator

Yezheng Kang, Zhenkun Liang, Tianyi Yan, Xuyang Duan, Hao Wang, Joachim Seidelmann, Genliang Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061010.
Paper No: JMR-23-1122
https://doi.org/10.1115/1.4063289
Published Online: October 4, 2023
View Article titled, Analysis and Validation of a Flexible Limb/Cable Hybrid-Driven Parallel Continuum Manipulator
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Topics: Cables, End effectors, Kinematics, Manipulators, Stress, Modeling, Engineering prototypes, Robots
Journal Articles

Design of a Novel Flexible Spherical Hinge and Its Application in Continuum Robot

Guoxin Li, Jingjun Yu, Jie Pan, Xu Pei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061012.
Paper No: JMR-23-1276
https://doi.org/10.1115/1.4063370
Published Online: October 4, 2023
View Article titled, Design of a Novel Flexible Spherical Hinge and Its Application in Continuum Robot
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Topics: Design, Robots, Stiffness, Chain, Deformation, End effectors, Isotropy
Journal Articles

Visual-Biased Observability Index for Camera-Based Robot Calibration

Shouhei Shirafuji, Hiroki Goto, Xiaotian Zhang, Keiji Okuhara, Noritaka Takamura, Naoya Kagawa, Hiroyasu Baba, Jun Ota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051010.
Paper No: JMR-23-1022
https://doi.org/10.1115/1.4062801
Published Online: July 20, 2023
View Article titled, Visual-Biased Observability Index for Camera-Based Robot Calibration
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Topics: Calibration, Kinematics, Robots, End effectors, Errors, Manipulators
Journal Articles

Data-Driven Dynamics Modeling and Control Strategy for a Planar n -DOF Cable-Driven Parallel Robot Driven by n + 1 Cables Allowing Collisions

Genyuan Xu, Haoda Zhu, Hao Xiong, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051008.
Paper No: JMR-23-1035
https://doi.org/10.1115/1.4062792
Published Online: July 20, 2023
View Article titled, Data-Driven Dynamics Modeling and Control Strategy for a Planar n -DOF Cable-Driven Parallel Robot Driven by n + 1 Cables Allowing Collisions
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Topics: Cables, Collisions (Physics), Dynamics (Mechanics), End effectors, Robots, Modeling, Tension
Journal Articles

Development of a Base-Actuated Three-Rhombus Configured Remote Center of Motion Mechanism for Lumbar Puncture

Yuzhou Duan, Jie Ling, Zhao Feng, Daojin Yao, Yuchuan Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054503.
Paper No: JMR-22-1386
https://doi.org/10.1115/1.4062761
Published Online: July 20, 2023
View Article titled, Development of a Base-Actuated Three-Rhombus Configured Remote Center of Motion Mechanism for Lumbar Puncture
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Topics: Design, End effectors, Kinematics, Optimization, Needles, Errors, Linkages, Jacobian matrices, Engineering prototypes
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051018.
Paper No: JMR-21-1754
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031009.
Paper No: JMR-22-1267
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031005.
Paper No: JMR-22-1246
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061016.
Paper No: JMR-22-1235
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
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2023, 15(6): 065001.
Paper No: JMR-21-1569
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061003.
Paper No: JMR-22-1198
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
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2023, 15(5): 055001.
Paper No: JMR-22-1109
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
Open the PDF for Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints in another window
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061001.
Paper No: JMR-21-1347
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021002.
Paper No: JMR-21-1429
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
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014502.
Paper No: JMR-21-1281
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051006.
Paper No: JMR-21-1173
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
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. June 2022, 14(3): 034503.
Paper No: JMR-21-1261
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031013.
Paper No: JMR-21-1127
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