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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
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Topics: Chain, Design, Dynamics (Mechanics), Kinematics, Optimization, Parallel mechanisms, Performance evaluation, Rotation, Kinematic analysis
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

Three 2-DOF 1T1R and One 3-DOF 2T1R Full-Hinged Novel Parallel Mechanisms With Zero Coupling Degree and Motion Decoupling: Design and Analysis

Ju Li, Hongbo He, Guanglei Wu, Tao Li, Huiping Shen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031003.
Paper No: JMR-22-1474
DOI: https://doi.org/10.1115/1.4056875
Published Online: March 8, 2023
View Article titled, Three 2-DOF 1T1R and One 3-DOF 2T1R Full-Hinged Novel Parallel Mechanisms With Zero Coupling Degree and Motion Decoupling: Design and Analysis
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Topics: Chain, Design, Kinematics, Parallel mechanisms, Rotation, Topology
Journal Articles

Design and Analysis of an Active Swing Decoupling Compliant Mechanism With Multiple Co-Directional Input Branches

Guoshuai Liu, Pengbo Liu, Peng Yan, Yushu Shi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021004.
Paper No: JMR-22-1437
DOI: https://doi.org/10.1115/1.4056674
Published Online: March 3, 2023
View Article titled, Design and Analysis of an Active Swing Decoupling Compliant Mechanism With Multiple Co-Directional Input Branches
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Topics: Compliant mechanisms, Design, Displacement, Hinges, Modeling, Rotation, Simulation, Finite element analysis, Deformation, Engineering prototypes
Journal Articles

Multi-Branch Cellular Space Robot Mechanism Design and Climbing Behavior Research

Xiaomeng Liu, Bindi You, Rui Wang, Yang Zhao, Cheng Wei, Dexiao An
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051016.
Paper No: JMR-22-1420
DOI: https://doi.org/10.1115/1.4056602
Published Online: January 30, 2023
View Article titled, Multi-Branch Cellular Space Robot Mechanism Design and Climbing Behavior Research
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Topics: Kinematics, Robots, Trusses (Building), Design, Rotation
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

Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054502.
Paper No: JMR-22-1110
DOI: https://doi.org/10.1115/1.4055999
Published Online: November 25, 2022
View Article titled, Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
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Topics: Deformation, Dynamics (Mechanics), Inertia (Mechanics), Pendulums, Stiffness, Potential energy, Rotation, Springs, Damping, Dampers
Journal Articles

Orientation Workspace Analysis and Parameter Optimization of 3-RRPS Parallel Robot for Pelvic Fracture Reduction

Jingtao Lei, Jinhong Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051003.
Paper No: JMR-22-1204
DOI: https://doi.org/10.1115/1.4055741
Published Online: November 24, 2022
View Article titled, Orientation Workspace Analysis and Parameter Optimization of 3-RRPS Parallel Robot for Pelvic Fracture Reduction
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Topics: Pelvic fractures, Robots, Optimization, Rotation, Kinematics
Journal Articles

On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm

Jean-Michel Boisclair, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051001.
Paper No: JMR-22-1043
DOI: https://doi.org/10.1115/1.4055605
Published Online: November 24, 2022
View Article titled, On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm
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Topics: Artificial limbs, Deformation, Design, Grasping, Rolling contact, Optimization, Cables, Pinch effect, Friction, Prostheses
Journal Articles

Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm

Lei Wang, Liang Sun, Gaohong Yu, Yuzhu Zhou
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041002.
Paper No: JMR-21-1404
DOI: https://doi.org/10.1115/1.4055058
Published Online: November 10, 2022
View Article titled, Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm
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Topics: Design, Gears, Optimization, Planetary gears, Trains, Algorithms, Errors, Rotation
Journal Articles

Design and Control of SLPM-Based Extensible Continuum Arm

Zheming Zhuang, Ze Zhang, Yuntao Guan, Wei Wei, Mi Li, Zhao Tang, Rongjie Kang, Zhibin Song, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061003.
Paper No: JMR-21-1741
DOI: https://doi.org/10.1115/1.4054996
Published Online: September 12, 2022
View Article titled, Design and Control of SLPM-Based Extensible Continuum Arm
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Topics: Control systems, Design, Engineering prototypes, Parallel mechanisms, Robots, Simulation, Springs, Cables, Stiffness, Screws
Journal Articles

A Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator

Sicong Liu, Jianhui Liu, Kehan Zou, Xiaocheng Wang, Zhonggui Fang, Juan Yi, Zheng Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2022, 14(6): 060912.
Paper No: JMR-21-1722
DOI: https://doi.org/10.1115/1.4054731
Published Online: June 21, 2022
View Article titled, A Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator
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Topics: Actuators, Design, Kinematics, Manipulators, Manufacturing, Robotics, Simulation, Rotation, Mechanical admittance, Elongation
Journal Articles

Experimental Verification of Kinematics and Kinetics in a Biomimetic Bipedal Robot

Alexander G. Steele, Apploinaire Etoundi, Alexander J. Hunt
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014503.
Paper No: JMR-21-1467
DOI: https://doi.org/10.1115/1.4054441
Published Online: June 6, 2022
View Article titled, Experimental Verification of Kinematics and Kinetics in a Biomimetic Bipedal Robot
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Topics: Biomimetics, Design, Kinematics, Knee, Muscle, Robotics, Robots, Stiffness, Testing, Torque
Journal Articles

Dynamic Modeling and Simulation of a Hybrid Robot

Nanyan Shen, Hengming Yuan, Jing Li, Zirui Wang, Ninghe Lu, Yushun Lu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011012.
Paper No: JMR-21-1588
DOI: https://doi.org/10.1115/1.4054322
Published Online: May 12, 2022
View Article titled, Dynamic Modeling and Simulation of a Hybrid Robot
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Topics: Kinematics, Parallel mechanisms, Robots, Simulation, Kinematic analysis, Equilibrium (Physics), Dynamic models, Inertia (Mechanics), Rotation, Design
Journal Articles

Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time

Tun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011011.
Paper No: JMR-21-1668
DOI: https://doi.org/10.1115/1.4054313
Published Online: May 2, 2022
View Article titled, Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time
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Topics: Design, Exoskeleton devices, Kinematics, Rotation, Robots
Journal Articles

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions

Dongming Gan, Jiaming Fu, Han Lin, Haoguang Yang, Mo Rastgaar, Byung-Cheol Min, Richard Voyles
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041005.
Paper No: JMR-21-1535
DOI: https://doi.org/10.1115/1.4053821
Published Online: March 24, 2022
View Article titled, Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Mobile robots, Robots, Wheels, Actuators, Rotation, Parallel mechanisms
Journal Articles

A Multi-Objective Mechanism Optimization for Controlling an Aircraft Using a Bio-Inspired Rotating Empennage

David H. Myszka, James J. Joo, Andrew P. Murray
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2022, 14(4): 045003.
Paper No: JMR-21-1533
DOI: https://doi.org/10.1115/1.4053820
Published Online: March 7, 2022
View Article titled, A Multi-Objective Mechanism Optimization for Controlling an Aircraft Using a Bio-Inspired Rotating Empennage
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Topics: Actuators, Aircraft, Biomimetics, Design, Linkages, Optimization, Rotation, Weight (Mass)
Journal Articles

Development of Topology Optimized Bending-Twisting Soft Finger

Zhili Chen, Hamed Rahimi Nohooji, Chee-Meng Chew
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051003.
Paper No: JMR-21-1284
DOI: https://doi.org/10.1115/1.4053159
Published Online: February 18, 2022
View Article titled, Development of Topology Optimized Bending-Twisting Soft Finger
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Topics: Design, Grippers, Optimization, Topology, Pressure, Manufacturing, Grasping, Robotics, Rotation
Includes: Supplementary data
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

Triple Crossed Flexure Pivot Based on a Zero Parasitic Center Shift Kinematic Design

E. Thalmann, S. Henein
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2022, 14(4): 045001.
Paper No: JMR-21-1531
DOI: https://doi.org/10.1115/1.4053471
Published Online: February 18, 2022
View Article titled, Triple Crossed Flexure Pivot Based on a Zero Parasitic Center Shift Kinematic Design
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Topics: Bending (Stress), Design, Kinematics, Rotation, Stiffness, Finite element methods