1-20 of 234
Manipulators
Close
Save search
Follow your search
Access your saved searches in your account
Would you like to receive an alert when new items match your search?
Close Modal
Sort by
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

Dual Quaternions Representation of Lagrange's dynamic equations

Accepted Manuscript
Avraham Cohen, Benjamin Taub, Moshe Shoham
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1244
DOI: https://doi.org/10.1115/1.4062463
Published Online: May 3, 2023
View Article titled, Dual Quaternions Representation of Lagrange's dynamic equations
Click here to open pdf in another window PDF for Dual Quaternions Representation of Lagrange's dynamic equations
Topics: Equations of motion, Accounting, Damping, Design, Energy dissipation, Exoskeleton devices, Manipulators, Multibody dynamics, Springs, Viscosity
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

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
Click here to open pdf in another window PDF for Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section
Topics: Errors, Kinematics, Manipulators, Tendons, Tension, Robots, Design
Journal Articles

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Vimalesh Muralidharan, Nicolas Testard, Christine Chevallereau, Anick Abourachid, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035002.
Paper No: JMR-22-1185
DOI: https://doi.org/10.1115/1.4062302
Published Online: April 27, 2023
View Article titled, Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck
Click here to open pdf in another window PDF for Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck
Topics: Cables, Manipulators, Stiffness, Equilibrium (Physics), Springs
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
Click here to open pdf in another window PDF for Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices
Topics: Deformation, Manipulators, Modeling, Stiffness, Stress, Parallel mechanisms, Kinematics
Journal Articles

Design of Decoupled and Dynamically Isotropic Parallel Manipulators Considering Five Degrees-of-Freedom

Yogesh Pratap Singh, Nazeer Ahmad, Ashitava Ghosal
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011009.
Paper No: JMR-22-1492
DOI: https://doi.org/10.1115/1.4062176
Published Online: April 10, 2023
View Article titled, Design of Decoupled and Dynamically Isotropic Parallel Manipulators Considering Five Degrees-of-Freedom
Click here to open pdf in another window PDF for Design of Decoupled and Dynamically Isotropic Parallel Manipulators Considering Five Degrees-of-Freedom
Topics: Design, Manipulators, Isotropy, Degrees of freedom
Journal Articles

Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop

Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031008.
Paper No: JMR-22-1128
DOI: https://doi.org/10.1115/1.4062212
Published Online: April 10, 2023
View Article titled, Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
Click here to open pdf in another window PDF for Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
Topics: Control equipment, Degrees of freedom, Design, Dynamics (Mechanics), Feedforward control, Manipulators, Muscle, Pressure, Robots, Valves
Journal Articles

Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator

Cole Woods, Vishesh Vikas
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031006.
Paper No: JMR-22-1273
DOI: https://doi.org/10.1115/1.4056959
Published Online: March 28, 2023
View Article titled, Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator
Click here to open pdf in another window PDF for Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator
Topics: Design, Manipulators, Manufacturing, Modeling, String, Tensegrity, Screws, Tension, Tendons
Journal Articles

Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles

Chi-Shiun Jhuang, Chia-Wei Juang, Dar-Zen Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031006.
Paper No: JMR-22-1390
DOI: https://doi.org/10.1115/1.4056960
Published Online: March 8, 2023
View Article titled, Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles
Click here to open pdf in another window PDF for Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles
Topics: Manipulators, Springs, Torque
Journal Articles

Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor

Sergey Pisetskiy, Mehrdad R. Kermani
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021003.
Paper No: JMR-22-1059
DOI: https://doi.org/10.1115/1.4056672
Published Online: March 3, 2023
View Article titled, Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor
Click here to open pdf in another window PDF for Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor
Topics: Belts, Design, Engines, Manipulators, Motors, Robots, Gears
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

Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems

Fujie Yu, Qilong Zhu, Yuan Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064501.
Paper No: JMR-22-1280
DOI: https://doi.org/10.1115/1.4056378
Published Online: January 18, 2023
View Article titled, Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
Click here to open pdf in another window PDF for Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds
Journal Articles

A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators

Sri Sadhan Jujjavarapu, Hemanth Manjunatha, Ehsan Tarkesh Esfahani
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061003.
Paper No: JMR-22-1198
DOI: https://doi.org/10.1115/1.4056235
Published Online: January 17, 2023
View Article titled, A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators
Click here to open pdf in another window PDF for A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators
Topics: Hammers, Magnets, Robots, Stiffness, Trajectories (Physics), End effectors, Manipulators, Optimization, Displacement, Energy storage
Journal Articles

A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom

Jihui Li, Zhenyuan Yu, Zhiwei Zhu, Zichen Deng
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061005.
Paper No: JMR-22-1108
DOI: https://doi.org/10.1115/1.4056252
Published Online: January 17, 2023
View Article titled, A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom
Click here to open pdf in another window PDF for A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom
Topics: Cables, Design, Engineering prototypes, Engines, Hinges, Kinematics, Linkages, Manipulators, Manufacturing, Motors
Journal Articles

Extensible Continuum Manipulator Toward In-situ Explosive Ordnance Disposal

Pengyuan Wang, Binchen Deng, Zongbo He, Yuqiang Liu, Zhiguang Xing, Jianwen Zhao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051013.
Paper No: JMR-22-1183
DOI: https://doi.org/10.1115/1.4056080
Published Online: December 5, 2022
View Article titled, Extensible Continuum Manipulator Toward In-situ Explosive Ordnance Disposal
Click here to open pdf in another window PDF for Extensible Continuum Manipulator Toward In-situ Explosive Ordnance Disposal
Topics: Explosives, Manipulators, Robots, Weapons
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

Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator

Jianfeng Lin, Chenkun Qi, Feng Gao, Yi Yue, Yan Hu, Baochen Wei
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041006.
Paper No: JMR-21-1508
DOI: https://doi.org/10.1115/1.4055165
Published Online: November 10, 2022
View Article titled, Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator
Click here to open pdf in another window PDF for Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator
Topics: Bending (Stress), Manipulators, Modeling
Journal Articles

Evaluation on Redundancy-Induced Rigidity Enhancement of a Parallel Manipulator

Han-liang Fang, Teng-fei Tang, Zhen He, Jun Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041009.
Paper No: JMR-22-1085
DOI: https://doi.org/10.1115/1.4055253
Published Online: November 10, 2022
View Article titled, Evaluation on Redundancy-Induced Rigidity Enhancement of a Parallel Manipulator
Click here to open pdf in another window PDF for Evaluation on Redundancy-Induced Rigidity Enhancement of a Parallel Manipulator
Topics: Stiffness, Manipulators