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Journal Articles

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

Accepted Manuscript
Baran Alikoc, Vojtech Sustr, Filip Zitek, Pavel Burget, Alexander Lomakin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1537
DOI: https://doi.org/10.1115/1.4062672
Published Online: June 2, 2023
View Article titled, Motion Modelling of a 5-Axis Delta Robot with Telescopic Shafts
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Topics: Kinematics, Modeling, Robots
Journal Articles

A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots

Accepted Manuscript
Federico Zaccaria, Edoardo Ida', Sebastien Briot
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1473
DOI: https://doi.org/10.1115/1.4062585
Published Online: May 22, 2023
View Article titled, A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots
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Topics: Algorithms, Computation, Robots, Modeling, Soft robots, Vacuum
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
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Topics: Actuators, Kinematics, Manipulators, Modeling, Soft robots, String, Control modeling, Manufacturing, Compliant mechanisms, Energy efficiency
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

kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries

Marios Vasileiou, Nikolaos Manos, Nikos Vasilopoulos, Anastasia Douma, Ergina Kavallieratou
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041003.
Paper No: JMR-23-1169
DOI: https://doi.org/10.1115/1.4062355
Published Online: May 2, 2023
View Article titled, kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries
Click here to open pdf in another window PDF for kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries
Topics: Additive manufacturing, Autonomous underwater vehicles, Design, Flow simulation, Inspection, Mechanical admittance, Underwater vehicles, Vehicles, Robots, Navigation
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

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
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Topics: Design, Knee, Simulation, Trajectories (Physics), Wheels, Legged locomotion, Robots, Kinematics, Actuators, Modeling
Journal Articles

Light-Weight Design of Five-Degree-of-Freedom Hybrid Robot for Assembling in the Cabin

Binbin Lian, Pan Feng, Jin Wu, Jintao Ma, Yuan Zhang, Yimin Song
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031010.
Paper No: JMR-22-1546
DOI: https://doi.org/10.1115/1.4057074
Published Online: March 28, 2023
View Article titled, Light-Weight Design of Five-Degree-of-Freedom Hybrid Robot for Assembling in the Cabin
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Topics: Design, Robots, Stiffness, Weight (Mass), Modeling, Kinematics, Pareto optimization
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
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Topics: Design, Manipulators, Manufacturing, Modeling, String, Tensegrity, Screws, Tension, Tendons
Journal Articles

Sensor-Less Grasping Force Control of a Pneumatic Underactuated Robotic Gripper

Hongliang Hua, Jie Song, Jingbo Zhao, Zhenqiang Liao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031005.
Paper No: JMR-22-1246
DOI: https://doi.org/10.1115/1.4056955
Published Online: March 8, 2023
View Article titled, Sensor-Less Grasping Force Control of a Pneumatic Underactuated Robotic Gripper
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Topics: Force control, Grasping, Modeling, Pressure, Sensors, End effectors
Journal Articles

Graphic Transfer Matrix Method for Kinetostatic and Dynamic Analyses of Compliant Mechanisms

Lei Yuan, Mingxiang Ling, Jianhao Lai, Hai Li, Xianmin Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021009.
Paper No: JMR-22-1220
DOI: https://doi.org/10.1115/1.4056827
Published Online: March 8, 2023
View Article titled, Graphic Transfer Matrix Method for Kinetostatic and Dynamic Analyses of Compliant Mechanisms
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Topics: Bending (Stress), Chain, Compliant mechanisms, Displacement, Hinges, Modeling, Stiffness
Journal Articles

Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints

Xiang Wang, Yue Ding, Lingyun Zeng, Chuanxiang Zhu, Baibo Wu, Kai Xu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031005.
Paper No: JMR-22-1186
DOI: https://doi.org/10.1115/1.4056954
Published Online: March 8, 2023
View Article titled, Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints
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Topics: Errors, Modeling, Robots, Stress, Optimization, Design
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

Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms

Ke Wu, Gang Zheng, Guimin Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061012.
Paper No: JMR-22-1269
DOI: https://doi.org/10.1115/1.4056501
Published Online: January 23, 2023
View Article titled, Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms
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Topics: Compliant mechanisms, Deflection, Modeling, Timoshenko beam theory, Shear (Mechanics)
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
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control
Journal Articles

Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone

Qingyu Xiao, Mishek Musa, Isuru S. Godage, Hao Su, Yue Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051011.
Paper No: JMR-22-1084
DOI: https://doi.org/10.1115/1.4055860
Published Online: November 25, 2022
View Article titled, Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone
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Topics: Modeling, Nickel titanium alloys, Robots, Stiffness, Tendons
Journal Articles

Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices

Anandaroop Lahiri, Phanisri P. Pratapa
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051004.
Paper No: JMR-22-1305
DOI: https://doi.org/10.1115/1.4055742
Published Online: November 24, 2022
View Article titled, Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices
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Topics: Deformation, Degrees of freedom, Equilibrium (Physics), Stiffness, Modeling, Displacement
Journal Articles

Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions

Kefei Wen, Jessica Burgner-Kahrs
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041003.
Paper No: JMR-21-1579
DOI: https://doi.org/10.1115/1.4055062
Published Online: November 10, 2022
View Article titled, Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions
Click here to open pdf in another window PDF for Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions
Topics: Kinematics, Modeling, Robots, Tendons
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

Modeling of Flexible-Link Manipulators Under Uncertain Parameters Based on Stochastic Finite Element Method

Fabian A. Lara-Molina
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061002.
Paper No: JMR-21-1647
DOI: https://doi.org/10.1115/1.4054995
Published Online: September 12, 2022
View Article titled, Modeling of Flexible-Link Manipulators Under Uncertain Parameters Based on Stochastic Finite Element Method
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Topics: Flexible manipulators, Manipulators, Modeling, Uncertainty, Finite element methods, Stiffness