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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
DOI: 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

Origami-inspired Variable Stiffness actuator for Safe Human-Robot Interaction

Accepted Manuscript
Bowen Zheng, Pengpeng Xu, Zhaoqi Guo, Longhan Xie
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1596
DOI: https://doi.org/10.1115/1.4062499
Published Online: May 5, 2023
View Article titled, Origami-inspired Variable Stiffness actuator for Safe Human-Robot Interaction
Click here to open pdf in another window PDF for Origami-inspired Variable Stiffness actuator for Safe Human-Robot Interaction
Topics: Actuators, Human-robot interaction, Origami-inspired design, Stiffness, Robots, Safety, Deflection, Design, Energy efficiency, Energy storage
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
Click here to open pdf in another window PDF for Kinematic Modeling and Open-Loop Control of A Twisted String Actuator-Driven Soft Robotic Manipulator
Topics: Actuators, Kinematics, Manipulators, Modeling, Soft robots, String, Control modeling, Manufacturing, Compliant mechanisms, Energy efficiency
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
Click here to open pdf in another window PDF for A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators
Topics: Design, Kinematics, Manipulators, Redundancy (Engineering), Stiffness, Actuators, Linkages, Mechanical admittance, Optimization
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
DOI: 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
Click here to open pdf in another window PDF for Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
Topics: Actuators, Control equipment, Inertia (Mechanics), Ships, Waves, Dynamics (Mechanics), Design, Stress, Errors, Dynamic models
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
DOI: 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

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
DOI: 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
Click here to open pdf in another window PDF for Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds
Topics: Actuators, Design, Vocal cords, Dynamics (Mechanics)
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
Click here to open pdf in another window PDF for A Novel Transformable Leg-Wheel Mechanism
Topics: Design, Knee, Simulation, Trajectories (Physics), Wheels, Legged locomotion, Robots, Kinematics, Actuators, Modeling
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
DOI: 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
Click here to open pdf in another window PDF for Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
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
DOI: 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
Click here to open pdf in another window PDF for Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
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
DOI: 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
Click here to open pdf in another window PDF for Kinetostatic Analysis of Pneumatic Bending Soft Actuator Coupling With Revolute Joint
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
DOI: 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
DOI: 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
DOI: 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
Click here to open pdf in another window PDF for Realization of a Gear-Spring Balancer With Variable Payloads and Its Application to Serial Robots
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
DOI: 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
Click here to open pdf in another window PDF for A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper
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
DOI: 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
Click here to open pdf in another window PDF for Mechanical Characterization of Compliant Cellular Robots. Part I: Passive Stiffness
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
DOI: 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
Click here to open pdf in another window PDF for Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain
Topics: Actuators, Deformation, Finite element analysis, Robots, Topology, Design, Stiffness, Shapes
Journal Articles

Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform

Bahman Nouri Rahmat Abadi, Juan A. Carretero
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021004.
Paper No: JMR-21-1558
DOI: https://doi.org/10.1115/1.4054614
Published Online: June 21, 2022
View Article titled, Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform
Click here to open pdf in another window PDF for Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform
Topics: Actuators, Grasping, Kinematics, Parallel mechanisms, Path planning, Redundancy (Engineering), Trajectories (Physics), Kinematic analysis, Artificial neural networks
Journal Articles

Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

Jun Wu, Jiahao Qiu, Hao Ye
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021005.
Paper No: JMR-21-1729
DOI: https://doi.org/10.1115/1.4054618
Published Online: June 21, 2022
View Article titled, Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range
Click here to open pdf in another window PDF for Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range
Topics: Actuators, Manipulators, Optimization, Torque, Redundant manipulators, Dynamic models, Trajectories (Physics)
Journal Articles

Automatic Design of Dielectric Elastomer-Based Crawling Robots Using Shape and Topology Optimization

Bicheng Chen, Nianfeng Wang, Rixin Wang, Benliang Zhu, Xianmin Zhang, Wenjie Sun, Wei Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021006.
Paper No: JMR-22-1026
DOI: https://doi.org/10.1115/1.4054642
Published Online: June 21, 2022
View Article titled, Automatic Design of Dielectric Elastomer-Based Crawling Robots Using Shape and Topology Optimization
Click here to open pdf in another window PDF for Automatic Design of Dielectric Elastomer-Based Crawling Robots Using Shape and Topology Optimization
Topics: Deformation, Design, Elastomers, Optimization, Robots, Shapes, Topology, Actuators, Finite element analysis, B-splines