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Journal Articles

Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot

Accepted Manuscript
Lingmin Xu, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics.
Paper No: JMR-22-1580
DOI: https://doi.org/10.1115/1.4062649
Published Online: May 30, 2023
View Article titled, Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot
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Topics: Cavities, Design, Kinematics, Machining, Robots
Journal Articles

Robust Multilegged Walking Robots for Interactions With Different Terrains

Nina Robson, Vanessa Audrey, Ashutosh Dwivedi, Dylan Kunzmann
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011010.
Paper No: JMR-22-1488
DOI: https://doi.org/10.1115/1.4062303
Published Online: May 26, 2023
View Article titled, Robust Multilegged Walking Robots for Interactions With Different Terrains
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Topics: Design, Kinematics, Robots, Testing, Trajectories (Physics), Linkages
Journal Articles

Inverse Kinematics Solution Method of an Adaptive Piecewise Geometry for Cable-Driven Hyper-Redundant Manipulator

Accepted Manuscript
Qiang Yang, Qinghua Zhou, Guangwu Zhou, Ming Jiang, Zhijun Zhao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1649
DOI: https://doi.org/10.1115/1.4062606
Published Online: May 23, 2023
View Article titled, Inverse Kinematics Solution Method of an Adaptive Piecewise Geometry for Cable-Driven Hyper-Redundant Manipulator
Click here to open pdf in another window PDF for Inverse Kinematics Solution Method of an Adaptive Piecewise Geometry for Cable-Driven Hyper-Redundant Manipulator
Topics: Cables, Geometry, Kinematics, Manipulators
Journal Articles

Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces

Accepted Manuscript
Lingmin Xu, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1010
DOI: https://doi.org/10.1115/1.4062607
Published Online: May 23, 2023
View Article titled, Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces
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Topics: Design, Kinematics, Machining, Robots
Journal Articles

Singularity parametrization with a novel kinematic decoupled model for non-spherical wrist robots

Accepted Manuscript
Diego Rodriguez-Guerra, Gorka Sorrosal, Itziar Cabanes, Aitziber Mancisidor, Carlos Calleja
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1019
DOI: https://doi.org/10.1115/1.4062586
Published Online: May 22, 2023
View Article titled, Singularity parametrization with a novel kinematic decoupled model for non-spherical wrist robots
Click here to open pdf in another window PDF for Singularity parametrization with a novel kinematic decoupled model for non-spherical wrist robots
Topics: Kinematics, Parametrization, Robots
Journal Articles

Geometric Error Calibration of XYZ-3RPS Hybrid Kinematic Machine via Binocular Vision

Accepted Manuscript
Xiangyu Guo, Rui Wang, Shisheng Zhong, Yuhao Ge, Lingyu Yue
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1503
DOI: https://doi.org/10.1115/1.4062465
Published Online: May 3, 2023
View Article titled, Geometric Error Calibration of XYZ-3RPS Hybrid Kinematic Machine via Binocular Vision
Click here to open pdf in another window PDF for Geometric Error Calibration of XYZ-3RPS Hybrid Kinematic Machine via Binocular Vision
Topics: Calibration, Errors, Kinematics, Machinery, Accuracy and precision, Design, Engineering prototypes, Manufacturing, Plates (structures)
Journal Articles

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

Accepted Manuscript
Revanth Konda, David Bombara, Ember Chow, Jun Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1603
DOI: https://doi.org/10.1115/1.4062466
Published Online: May 3, 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, Modeling, Soft robots, String, Control modeling, Manufacturing, Compliant mechanisms, Energy efficiency
Journal Articles

Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles

Yu-Jeong Han, Hyeon-Ho Yang, Jae-Hung Han
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051017.
Paper No: JMR-22-1481
DOI: https://doi.org/10.1115/1.4062339
Published Online: May 2, 2023
View Article titled, Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles
Click here to open pdf in another window PDF for Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles
Topics: Design, Kinematics, Optimization, Thrust, Wings, Flight, Wind tunnels, Vehicles, Manufacturing, Stress
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
DOI: 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

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

Christian DeBuys, Florin C. Ghesu, Jagadeesan Jayender, Reza Langari, Young-Ho Kim
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061019.
Paper No: JMR-22-1604
DOI: https://doi.org/10.1115/1.4062354
Published Online: May 2, 2023
View Article titled, Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section
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Topics: Errors, Kinematics, Manipulators, Tendons, Tension, Robots, Design
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

Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism

Wei Zhu, Zhu Xu, Zhiyuan Ma, Huiping Shen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021010.
Paper No: JMR-22-1654
DOI: https://doi.org/10.1115/1.4062149
Published Online: April 12, 2023
View Article titled, Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism
Click here to open pdf in another window PDF for Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism
Topics: Chain, Design, Dynamics (Mechanics), Kinematics, Optimization, Parallel mechanisms, Performance evaluation, Rotation, Kinematic analysis
Journal Articles

Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices

Shuangshuang Zhang, Linsong Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041001.
Paper No: JMR-22-1513
DOI: https://doi.org/10.1115/1.4062134
Published Online: April 12, 2023
View Article titled, Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices
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Topics: Deformation, Manipulators, Modeling, Stiffness, Stress, Parallel mechanisms, Kinematics
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
DOI: 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

Light-Weight Design of Five-Degree-of-Freedom Hybrid Robot for Assembling in the Cabin

Binbin Lian, Pan Feng, Jin Wu, Jintao Ma, Yuan Zhang, Yimin Song
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031010.
Paper No: JMR-22-1546
DOI: https://doi.org/10.1115/1.4057074
Published Online: March 28, 2023
View Article titled, Light-Weight Design of Five-Degree-of-Freedom Hybrid Robot for Assembling in the Cabin
Click here to open pdf in another window PDF for Light-Weight Design of Five-Degree-of-Freedom Hybrid Robot for Assembling in the Cabin
Topics: Design, Robots, Stiffness, Weight (Mass), Modeling, Kinematics, Pareto optimization
Journal Articles

On the Computation of Mean and Variance of Spatial Displacements

Qiaode Jeffrey Ge, Zihan Yu, Mona Arbab, Mark P. Langer
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011006.
Paper No: JMR-22-1507
DOI: https://doi.org/10.1115/1.4057046
Published Online: March 28, 2023
View Article titled, On the Computation of Mean and Variance of Spatial Displacements
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Topics: Displacement, Rotation, Kinematics, Weight (Mass)
Journal Articles

Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms

Zhengyu Wang, Shiyang Bao, Bin Zi, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031011.
Paper No: JMR-22-1584
DOI: https://doi.org/10.1115/1.4057075
Published Online: March 28, 2023
View Article titled, Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
Click here to open pdf in another window PDF for Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
Topics: Cables, Endoscopic devices, Kinematics, Robots, Design, Surgery, Lenses (Optics), Calibration
Journal Articles

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031007.
Paper No: JMR-22-1497
DOI: https://doi.org/10.1115/1.4056830
Published Online: March 27, 2023
View Article titled, Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot
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Topics: Kinematics, Optimization, Robots, Trajectories (Physics), Redundancy (Engineering)
Journal Articles

Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments

Chenhao Lu, Yao Chen, Jiayi Yan, Jian Feng, Pooya Sareh
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031001.
Paper No: JMR-22-1316
DOI: https://doi.org/10.1115/1.4056870
Published Online: March 8, 2023
View Article titled, Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments
Click here to open pdf in another window PDF for Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments
Topics: Algorithms, Design, Kinematics, Stiffness, Displacement, Deformation, Structural analysis
Journal Articles

Parameter Optimization of Foldable Flapping-Wing Mechanism for Maximum Lift

Hyeon-Ho Yang, Sang-Gil Lee, Reynolds Addo-Akoto, Jae-Hung Han
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031002.
Paper No: JMR-22-1371
DOI: https://doi.org/10.1115/1.4056869
Published Online: March 8, 2023
View Article titled, Parameter Optimization of Foldable Flapping-Wing Mechanism for Maximum Lift
Click here to open pdf in another window PDF for Parameter Optimization of Foldable Flapping-Wing Mechanism for Maximum Lift
Topics: Optimization, Wings, Design, Kinematics, Simulation