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Journal Articles

Special Section: Theory and Design of Reconfigurable Mechanisms and Robots

Dongming Gan, Stéphane Caro, Guimin Chen, Scott Nokleby, Jian S Dai

J. Mechanisms Robotics. December 2022, 14(6): 060301.

Paper No: JMR-22-1441

DOI: https://doi.org/10.1115/1.4055836

Published Online: October 31, 2022

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Topics: Design, Robots, Robotics

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

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

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Topics: Control systems, Design, Engineering prototypes, Parallel mechanisms, Robots, Simulation, Springs, Cables, Stiffness, Screws

Journal Articles

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis

J. Mechanisms Robotics. October 2022, 14(5): 056001.

Paper No: JMR-21-1433

DOI: https://doi.org/10.1115/1.4054926

Published Online: August 9, 2022

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Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback

Journal Articles

Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism

Zhao Tang, Kun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai

J. Mechanisms Robotics. December 2022, 14(6): 060907.

Paper No: JMR-21-1640

DOI: https://doi.org/10.1115/1.4054408

Published Online: May 26, 2022

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Topics: Robots, Biomimetics, Design, Spin (Aerodynamics), Spinning (Textile)

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

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

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Topics: Design, Exoskeleton devices, Kinematics, Rotation, Robots

Journal Articles

Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity

Tun Wang, Enea Olivoni, Emmanouil Spyrakos-Papastavridis, Rory J. O'Connor, Jian S. Dai

J. Mech. Des. May 2022, 144(5): 053301.

Paper No: MD-21-1205

DOI: https://doi.org/10.1115/1.4052842

Published Online: December 6, 2021

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Topics: Exoskeleton devices, Rotation, Design, Actuators, Kinematics

Journal Articles

Special Section: Design, Analysis and Actuation of Reconfigurable Parallel Mechanisms

Jian S. Dai, Yan Jin, Clément Gosselin

J. Mechanisms Robotics. August 2021, 13(4): 040301.

Paper No: JMR-21-1250

DOI: https://doi.org/10.1115/1.4051206

Published Online: June 3, 2021

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Topics: Design, Parallel mechanisms

Journal Articles

Design of Transformable Hinged Ori-Block Dissected from Cylinders and Cones

Guanglu Jia, Hailin Huang, Hongwei Guo, Bing Li, Jian S. Dai

J. Mech. Des. September 2021, 143(9): 094501.

Paper No: MD-20-1519

DOI: https://doi.org/10.1115/1.4050301

Published Online: March 24, 2021

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Topics: Cylinders, Design, Kinematics, Linkages, Rotation

Journal Articles

Structure Synthesis of a Class of Parallel Manipulators With Fully Decoupled Projective Motion

Chin-Hsing Kuo, Jian S. Dai

J. Mechanisms Robotics. June 2021, 13(3): 031011.

Paper No: JMR-20-1451

DOI: https://doi.org/10.1115/1.4050151

Published Online: March 15, 2021

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Topics: End effectors, Manipulators, Screws, Design

Proceedings Papers

Orientation Capability and Robot Wrists

Neil Holland, Jian S. Dai, David R. Kerr

Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A024, August 18–22, 1996

Paper No: 96-DETC/MECH-1002

DOI: https://doi.org/10.1115/96-DETC/MECH-1002

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Topics: Manipulators, Robots, Yaw

Proceedings Papers

Task-Oriented Direct Synthesis of Serial Manipulators Using Moment Invariants

Jian S. Dai, Neil Holland, David R. Kerr

Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A012, August 18–22, 1996

Paper No: 96-DETC/MECH-1004

DOI: https://doi.org/10.1115/96-DETC/MECH-1004

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Topics: Manipulators, Computers, Design, Numerical analysis

Journal Articles

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

Emmanouil Spyrakos-Papastavridis, Jian S. Dai

J. Mechanisms Robotics. April 2021, 13(2): 021014.

Paper No: JMR-20-1232

DOI: https://doi.org/10.1115/1.4049648

Published Online: February 23, 2021

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Topics: Control equipment, Pole placement, Robots, Stability, Motors

Proceedings Papers

Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds

Jian S. Dai, John Rees Jones

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A074, September 13–16, 1998

Paper No: DETC98/MECH-5902

DOI: https://doi.org/10.1115/DETC98/MECH-5902

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Topics: Mechanical admittance, Kinematics, Screws, Geometry, Hinges, Joining, Systems theory

Proceedings Papers

Grasp Stiffness Matrix for Soft Finger Contact Model in Robotic Applications

Abdul Ghafoor, Jian S. Dai, Joseph Duffy

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 551-560, September 10–13, 2000

Paper No: DETC2000/MECH-14110

DOI: https://doi.org/10.1115/DETC2000/MECH-14110

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Topics: Robotics, Stiffness, Springs, Screws

Proceedings Papers

Path Planning With Selective/Desriable Orientation in Finite Twist Mapping Space

Paresh Shah, Jian S. Dai

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 741-747, September 10–13, 2000

Paper No: DETC2000/MECH-14127

DOI: https://doi.org/10.1115/DETC2000/MECH-14127

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Topics: Path planning, Manipulators, Redundant manipulators, Space

Proceedings Papers

Structure Synthesis of Parallel Manipulators With Fully Decoupled Projective Motion and Any Degrees of Freedom

Chin-Hsing Kuo, Jian S. Dai

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A028, August 17–19, 2020

Paper No: DETC2020-22490

DOI: https://doi.org/10.1115/DETC2020-22490

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Topics: Degrees of freedom, Manipulators, Design, Screws, End effectors

Proceedings Papers

Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism

Xuheng Chai, Latifah Nurahmi, Jian S. Dai, Dongming Gan

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A088, August 17–19, 2020

Paper No: DETC2020-22169

DOI: https://doi.org/10.1115/DETC2020-22169

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Topics: Calibration, Kinematics, Parallel mechanisms, Optimization, Optimization algorithms, Switches, Trajectories (Physics)

Journal Articles

A Novel Ortho-Triplex Tensegrity Derived by the Linkage-Truss Transformation With Prestress-Stability Analysis Using Screw Theory

Liheng Wu, Jian S. Dai

J. Mech. Des. January 2021, 143(1): 013302.

Paper No: MD-19-1532

DOI: https://doi.org/10.1115/1.4047154

Published Online: July 27, 2020

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Topics: Linkages, Stability, Tensegrity, Trusses (Building), Screws

Journal Articles

A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism

Lingda Meng, Rongjie Kang, Dongming Gan, Guimin Chen, Lisha Chen, David T. Branson, Jian S. Dai

J. Mechanisms Robotics. December 2020, 12(6): 061005.

Paper No: JMR-19-1347

DOI: https://doi.org/10.1115/1.4046837

Published Online: May 12, 2020

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Topics: Actuators, Robots, Springs, Shape memory alloys, Displacement, Design

Journal Articles

Lie Group Based Type Synthesis Using Transformation Configuration Space for Reconfigurable Parallel Mechanisms With Bifurcation Between Spherical Motion and Planar Motion

Jun Wei, Jian S. Dai

J. Mech. Des. June 2020, 142(6): 063302.

Paper No: MD-19-1007

DOI: https://doi.org/10.1115/1.4045042

Published Online: November 25, 2019

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Topics: Bifurcation, Generators, Parallel mechanisms, Switches, Kinematic chains

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Journal citation

NARROW

Special Section: Theory and Design of Reconfigurable Mechanisms and Robots

Design and Control of SLPM-Based Extensible Continuum Arm

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism

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

Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity

Special Section: Design, Analysis and Actuation of Reconfigurable Parallel Mechanisms

Design of Transformable Hinged Ori-Block Dissected from Cylinders and Cones

Structure Synthesis of a Class of Parallel Manipulators With Fully Decoupled Projective Motion

Orientation Capability and Robot Wrists

Task-Oriented Direct Synthesis of Serial Manipulators Using Moment Invariants

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds

Grasp Stiffness Matrix for Soft Finger Contact Model in Robotic Applications

Path Planning With Selective/Desriable Orientation in Finite Twist Mapping Space

Structure Synthesis of Parallel Manipulators With Fully Decoupled Projective Motion and Any Degrees of Freedom

Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism

A Novel Ortho-Triplex Tensegrity Derived by the Linkage-Truss Transformation With Prestress-Stability Analysis Using Screw Theory

A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism

Lie Group Based Type Synthesis Using Transformation Configuration Space for Reconfigurable Parallel Mechanisms With Bifurcation Between Spherical Motion and Planar Motion

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