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Journal Articles

Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation

Sajeeva Abeywardena, Eisa Anwar, Stuart Charles Miller, Ildar Farkhatdinov
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061007.
Paper No: JMR-23-1039
https://doi.org/10.1115/1.4063094
Published Online: August 31, 2023
View Article titled, Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation
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Topics: Kinematics, Robotics, Simulation, Torque, Trajectories (Physics), Inertia (Mechanics), Design, Dynamics (Mechanics), Actuators, Displacement
Includes: Supplementary data
Journal Articles

Analysis and Optimization of a 6-DoF 3- R R P S Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery

Michael Clancy, Fayez Alruwaili, Marzieh S. Saeedi-Hosseiny, Sean McMillan, Iulian I. Iordachita, Mohammad H. Abedin-Nasab
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061006.
Paper No: JMR-23-1106
https://doi.org/10.1115/1.4063167
Published Online: August 29, 2023
View Article titled, Analysis and Optimization of a 6-DoF 3- R R P S Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery
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Topics: Design, Femoral fractures, Fracture (Materials), Fracture (Process), Genetic algorithms, Optimization, Parallel mechanisms, Robots, Stress, Surgery
Journal Articles

High Precision Trajectory Learning Method Based Improved Dynamic Movement Primitives for Robot Skill Learning

Bin Zhai, Enzheng Zhang, Bingchen Li, Xiujun Fang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061001.
Paper No: JMR-23-1119
https://doi.org/10.1115/1.4062985
Published Online: August 16, 2023
View Article titled, High Precision Trajectory Learning Method Based Improved Dynamic Movement Primitives for Robot Skill Learning
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Topics: Robots, Trajectories (Physics), Shapes
Journal Articles

Single-Actuated Camshaft Robot With Multiple Sequential Motions

Peng Yan, Hailin Huang, Sen Wang, Bing Li, Zhifeng Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061002.
Paper No: JMR-23-1216
https://doi.org/10.1115/1.4062987
Published Online: August 16, 2023
View Article titled, Single-Actuated Camshaft Robot With Multiple Sequential Motions
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Topics: Camshafts, Robots, Pipelines, Pipes, Elongation
Journal Articles

A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061005.
Paper No: JMR-23-1245
https://doi.org/10.1115/1.4063038
Published Online: August 16, 2023
View Article titled, A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics
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Topics: Kinematics, Manifolds, Manipulators, Redundant manipulators
Journal Articles

Configuration Synthesis Method of Multi-Mode Parallel Mechanism Based on Variable Mobility Branch

Xueyuan Gao, Fujuan Li, Xueyan Han, Xinwang Liu, Shihua Li
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061003.
Paper No: JMR-23-1236
https://doi.org/10.1115/1.4062986
Published Online: August 16, 2023
View Article titled, Configuration Synthesis Method of Multi-Mode Parallel Mechanism Based on Variable Mobility Branch
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Topics: Generators, Mechanical admittance, Parallel mechanisms
Journal Articles

Development of a Low-Cost Soft Robot Fish With Biomimetic Swimming Performance

Ting Zou, Xinyu Jian, Mahmoud Al-Tamimi, Xing Wu, Jing Wu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061004.
Paper No: JMR-23-1205
https://doi.org/10.1115/1.4063037
Published Online: August 16, 2023
View Article titled, Development of a Low-Cost Soft Robot Fish With Biomimetic Swimming Performance
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Topics: Biomimetics, Computational fluid dynamics, Design, Manufacturing, Robots, Engineering prototypes, Soft robots, Hydrodynamics, Kinematics
Journal Articles

Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects

Seon Mi Jo, Hae-Sung Yoon
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021013.
Paper No: JMR-22-1521
https://doi.org/10.1115/1.4062983
Published Online: August 8, 2023
View Article titled, Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects
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Topics: Design, Energy efficiency, Grippers, Shape memory alloys, Springs, Wire, Shapes, Manufacturing
Journal Articles

A New Error Compensation Method for Delta Robots Combining Geometric Error Modeling With Spatial Interpolating

Jianwei Ma, Yabin Shen, Shumei Zhang, Huiteng Yan, Zhenyuan Jia
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051012.
Paper No: JMR-23-1114
https://doi.org/10.1115/1.4062947
Published Online: August 8, 2023
View Article titled, A New Error Compensation Method for Delta Robots Combining Geometric Error Modeling With Spatial Interpolating
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Topics: Errors, Robots, Error compensation
Journal Articles

Motion Modeling of a 5-Axis Delta Robot with Telescopic Shafts

Baran Alikoç, Vojtěch Šustr, Filip Zítek, Pavel Burget, Alexander Lomakin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041013.
Paper No: JMR-22-1537
https://doi.org/10.1115/1.4062672
Published Online: August 8, 2023
View Article titled, Motion Modeling of a 5-Axis Delta Robot with Telescopic Shafts
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Topics: Dynamic models, Kinematics, Modeling, Robots
Journal Articles

Kinematical Approach to the Drilling Mechanisms for n -Sided Polygonal Holes

Francesco Sorge
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031013.
Paper No: JMR-22-1394
https://doi.org/10.1115/1.4062914
Published Online: August 8, 2023
View Article titled, Kinematical Approach to the Drilling Mechanisms for n -Sided Polygonal Holes
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Topics: Rotation, Rotors, Stators, Drilling
Journal Articles

Modeling Method for Static Large Deflection Problem of Curved Planar Beams in Compliant Mechanisms Based on a Novel Governing Equation

Jingyu Jiang, Song Lin, Hanchao Wang, Niels Modler
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031014.
Paper No: JMR-23-1187
https://doi.org/10.1115/1.4062916
Published Online: August 8, 2023
View Article titled, Modeling Method for Static Large Deflection Problem of Curved Planar Beams in Compliant Mechanisms Based on a Novel Governing Equation
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Topics: Compliant mechanisms, Modeling, Shapes, Stress, Deflection, Boundary-value problems, Geometry
Journal Articles

A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces

Guillaume Jeanneau, Vincent Bégoc, Sébastien Briot
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041012.
Paper No: JMR-22-1535
https://doi.org/10.1115/1.4062946
Published Online: August 8, 2023
View Article titled, A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces
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Topics: Robots, Springs, Stiffness
Journal Articles

Enhancing Kinematic Calibration Accuracy for Parallel Manipulators Based on Truncated Total Least-Square Regularization

Sheng Jian, Hao Xiong, Xiansheng Yang, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051013.
Paper No: JMR-23-1125
https://doi.org/10.1115/1.4062948
Published Online: August 8, 2023
View Article titled, Enhancing Kinematic Calibration Accuracy for Parallel Manipulators Based on Truncated Total Least-Square Regularization
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Topics: Calibration, Errors, Kinematics
Journal Articles

Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints

Hasiaoqier Han, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031015.
Paper No: JMR-23-1118
https://doi.org/10.1115/1.4062984
Published Online: August 8, 2023
View Article titled, Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints
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Topics: Dynamics (Mechanics), Kinematics, Machinery, Chain, Simulation
Journal Articles

A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments

Samson A. Adejokun, Panos S. Shiakolas
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021012.
Paper No: JMR-22-1550
https://doi.org/10.1115/1.4062762
Published Online: July 25, 2023
View Article titled, A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments
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Topics: Kinematics, Manipulators, Robots, Tension, Biological tissues, Tendons, Modeling, Design, Robotics
Journal Articles

Multi-Furcation Variations of Two Novel Double-Centered Mechanisms Based on Higher Order Kinematic Analyses and Singular Value Decomposition

Zhao Tang, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051011.
Paper No: JMR-22-1518
https://doi.org/10.1115/1.4062915
Published Online: July 21, 2023
View Article titled, Multi-Furcation Variations of Two Novel Double-Centered Mechanisms Based on Higher Order Kinematic Analyses and Singular Value Decomposition
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Topics: Linkages
Journal Articles

Design and Validation of a Nonparasitic 2R1T Parallel Hand-Held Prostate Biopsy Robot With Remote Center of Motion

Wenhe Jiang, Dongmei Wu, Wei Dong, Jiajun Ding, Zhichao Ye, Pei Zeng, Yongzhuo Gao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051009.
Paper No: JMR-23-1128
https://doi.org/10.1115/1.4062793
Published Online: July 20, 2023
View Article titled, Design and Validation of a Nonparasitic 2R1T Parallel Hand-Held Prostate Biopsy Robot With Remote Center of Motion
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Topics: Design, Kinematics, Robots, Robotics, Needles
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
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

Mechanically Prestressed Pneumatically Driven Bistable Soft Actuators

Yitong Zhou, Zefeng Xu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051006.
Paper No: JMR-23-1174
https://doi.org/10.1115/1.4062949
Published Online: July 20, 2023
View Article titled, Mechanically Prestressed Pneumatically Driven Bistable Soft Actuators
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Topics: Actuators, Shapes, Pressure