Volume 13 Issue 1 | J. Mechanisms Robotics

Skip Nav Destination

Research Papers

Rectilinear Tasks Optimization of a Modular Serial Metamorphic Manipulator

N. A. Stravopodis, V. C. Moulianitis

J. Mechanisms Robotics. February 2021, 13(1): 011001. doi: https://doi.org/10.1115/1.4047727

Abstract

View articletitled, Rectilinear Tasks Optimization of a Modular Serial Metamorphic Manipulator

Open the PDF for in another window

Topics: Anatomy , Kinematics , Manipulators , Optimization , Robots , Algorithms

Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake

Bing Chen, Bin Zi, Zhengyu Wang, Yuan Li, Jun Qian

J. Mechanisms Robotics. February 2021, 13(1): 011002. doi: https://doi.org/10.1115/1.4047987

Abstract

View articletitled, Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake

Open the PDF for in another window

Topics: Brakes , Orthotics , Robotics , Torque , Rheology , Engines , Motors , Actuators , Braking , Seas

A New Type of Soft Pneumatic Torsional Actuator With Helical Chambers for Flexible Machines

Wei Xiao, Dean Hu, Weixiong Chen, Gang Yang, Xu Han

J. Mechanisms Robotics. February 2021, 13(1): 011003. doi: https://doi.org/10.1115/1.4047989

Abstract

View articletitled, A New Type of Soft Pneumatic Torsional Actuator With Helical Chambers for Flexible Machines

Open the PDF for in another window

Topics: Actuators , Pressure , Torsion

System Kinematic Reliability Analysis for Robotic Manipulators Under Rectangular and Spherical Tolerant Boundaries

Qiangqiang Zhao, Junkang Guo, Jun Hong

J. Mechanisms Robotics. February 2021, 13(1): 011004. doi: https://doi.org/10.1115/1.4047986

Abstract

View articletitled, System Kinematic Reliability Analysis for Robotic Manipulators Under Rectangular and Spherical Tolerant Boundaries

Open the PDF for in another window

Topics: Errors , Kinematics , Manipulators , Probability , Reliability , Event history analysis

Synthesis of Six-Bar Timed Curve Generators of Stephenson-Type Using Random Monodromy Loops

Aravind Baskar, Mark Plecnik

J. Mechanisms Robotics. February 2021, 13(1): 011005. doi: https://doi.org/10.1115/1.4047871

Abstract

View articletitled, Synthesis of Six-Bar Timed Curve Generators of Stephenson-Type Using Random Monodromy Loops

Open the PDF for in another window

Topics: Computation , Design , Generators , Kinematics , Linkages , Polynomials , Rotation

Design of Concentric Tube Robots Using Tube Patterning for Follow-The-Leader Deployment

Cédric Girerd, Thomas Schlinquer, Nicolas Andreff, Pierre Renaud, Kanty Rabenorosoa

J. Mechanisms Robotics. February 2021, 13(1): 011006. doi: https://doi.org/10.1115/1.4047983

Abstract

View articletitled, Design of Concentric Tube Robots Using Tube Patterning for Follow-The-Leader Deployment

Open the PDF for in another window

Topics: Design , Robots , Stability , Stiffness , Shapes , Finite element analysis , Kinematics , Biomedicine

Generalized Spiral Spring: A Bioinspired Tunable Stiffness Mechanism for Linear Response With High Resolution

Zeeshan Qaiser, Shane Johnson

J. Mechanisms Robotics. February 2021, 13(1): 011007. doi: https://doi.org/10.1115/1.4045654

Abstract

View articletitled, Generalized Spiral Spring: A Bioinspired Tunable Stiffness Mechanism for Linear Response With High Resolution

Open the PDF for in another window

Topics: Design , Resolution (Optics) , Springs , Stiffness , Optimization , Stress

Kinematic Modeling and Analysis of a Novel Bio-Inspired and Cable-Driven Hybrid Shoulder Mechanism

A. S. Niyetkaliyev, E. Sariyildiz, G. Alici

J. Mechanisms Robotics. February 2021, 13(1): 011008. doi: https://doi.org/10.1115/1.4047984

Abstract

View articletitled, Kinematic Modeling and Analysis of a Novel Bio-Inspired and Cable-Driven Hybrid Shoulder Mechanism

Open the PDF for in another window

Topics: Cables , Kinematics , Robots , Biomimetics , Modeling , Degrees of freedom

Deformation Modeling of Compliant Robotic Fingers Grasping Soft Objects

Nicolas Mouazé, Lionel Birglen

J. Mechanisms Robotics. February 2021, 13(1): 011009. doi: https://doi.org/10.1115/1.4047988

Abstract

View articletitled, Deformation Modeling of Compliant Robotic Fingers Grasping Soft Objects

Open the PDF for in another window

Topics: Deformation , Grasping , Modeling , Robotics , Simulation , Springs , Grippers , Shapes , Finite element analysis , Engineering simulation

Design and Modeling of Soft Continuum Manipulators Using Parallel Asymmetric Combination of Fiber-Reinforced Elastomers

Naveen Kumar Uppalapati, Girish Krishnan

J. Mechanisms Robotics. February 2021, 13(1): 011010. doi: https://doi.org/10.1115/1.4048223

Abstract

View articletitled, Design and Modeling of Soft Continuum Manipulators Using Parallel Asymmetric Combination of Fiber-Reinforced Elastomers

Open the PDF for in another window

Topics: Design , Manipulators , Stiffness , Deformation , Stress , Actuators , Pressure , Fibers

Design and Control of a Robotic Steering Mechanism for Electrophysiological Catheters

Hoyul Lee, Zhenkai Hu, Youngjin Moon, Young-Hak Kim, Gi-Byoung Nam, Jaesoon Choi

J. Mechanisms Robotics. February 2021, 13(1): 011011. doi: https://doi.org/10.1115/1.4048224

Abstract

View articletitled, Design and Control of a Robotic Steering Mechanism for Electrophysiological Catheters

Open the PDF for in another window

Topics: Catheters , Grippers , Robotics , Robots , Trajectories (Physics)

Multi-Loop Rover: A Kind of Modular Rolling Robot Constructed by Multi-Loop Linkages

Yaobin Tian, Xianwen Kong, Kun Xu, Xilun Ding

J. Mechanisms Robotics. February 2021, 13(1): 011012. doi: https://doi.org/10.1115/1.4048225

Abstract

View articletitled, Multi-Loop Rover: A Kind of Modular Rolling Robot Constructed by Multi-Loop Linkages

Open the PDF for in another window

Topics: Kinematics , Linkages , Mechanical admittance , Robots , Design , Chain , Engineering prototypes

Creative Design of Legged Mobile Landers With Multi-Loop Chains Based on Truss-Mechanism Transformation Method

Rongfu Lin, Weizhong Guo

J. Mechanisms Robotics. February 2021, 13(1): 011013. doi: https://doi.org/10.1115/1.4048256

Abstract

View articletitled, Creative Design of Legged Mobile Landers With Multi-Loop Chains Based on Truss-Mechanism Transformation Method

Open the PDF for in another window

Topics: Chain , Trusses (Building) , Creativity , Topology , Design

Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System

Liwei Ni, Fangwu Ma, Linhe Ge, Liang Wu

J. Mechanisms Robotics. February 2021, 13(1): 011014. doi: https://doi.org/10.1115/1.4048226

Abstract

View articletitled, Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System

Open the PDF for in another window

Topics: Actuators , Damping , Design , Robots , Simulation , Suspension systems , Wheels , Springs , Control equipment , Vibration isolation

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Andrija Milojević, Sebastian Linß, Žarko Ćojbašić, Heikki Handroos

J. Mechanisms Robotics. February 2021, 13(1): 011015. doi: https://doi.org/10.1115/1.4048752

Abstract

View articletitled, A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Open the PDF for in another window

Topics: Grippers , Robotics

A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment

Mohammad I. Awad, Irfan Hussain, Shramana Ghosh, Yahya Zweiri, Dongming Gan

J. Mechanisms Robotics. February 2021, 13(1): 011016. doi: https://doi.org/10.1115/1.4048428

Abstract

View articletitled, A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment

Open the PDF for in another window

Topics: Design , Exoskeleton devices , Kinematics , Optimization , Parallel mechanisms

Constructing Rigid-Foldable Generalized Miura-Ori Tessellations for Curved Surfaces

Yucai Hu, Yexin Zhou, Haiyi Liang

J. Mechanisms Robotics. February 2021, 13(1): 011017. doi: https://doi.org/10.1115/1.4048630

Abstract

View articletitled, Constructing Rigid-Foldable Generalized Miura-Ori Tessellations for Curved Surfaces

Open the PDF for in another window

Topics: Airfoils , Construction , Design , Optimization , Degrees of freedom , Approximation

Theoretical and Experimental Study on Active Stiffness Control of a Two-Degrees-of-Freedom Rope-Driven Parallel Mechanism

Haiyu Gu, Cheng Wei, Zeming Zhang, Yang Zhao

J. Mechanisms Robotics. February 2021, 13(1): 011018. doi: https://doi.org/10.1115/1.4048751

Abstract

View articletitled, Theoretical and Experimental Study on Active Stiffness Control of a Two-Degrees-of-Freedom Rope-Driven Parallel Mechanism

Open the PDF for in another window

Topics: Ropes , Stiffness , Tension , Simulation , Friction

Does a Finite-Time Double Support Period Increase Walking Stability for Planar Bipeds?

Daniel S. Williams, Anne E. Martin

J. Mechanisms Robotics. February 2021, 13(1): 011019. doi: https://doi.org/10.1115/1.4048832

Abstract

View articletitled, Does a Finite-Time Double Support Period Increase Walking Stability for Planar Bipeds?

Open the PDF for in another window

Topics: Control equipment , Stability , Simulation

Inverted Honeycomb Cell as a Reinforcement Structure for Building Soft Pneumatic Linear Actuators

François Schmitt, Olivier Piccin, Bernard Bayle, Pierre Renaud, Laurent Barbé

J. Mechanisms Robotics. February 2021, 13(1): 011020. doi: https://doi.org/10.1115/1.4048834

Abstract

View articletitled, Inverted Honeycomb Cell as a Reinforcement Structure for Building Soft Pneumatic Linear Actuators

Open the PDF for in another window

Topics: Actuators , Honeycomb structures , Stiffness

Modeling Large Spatial Deflections of Slender Beams of Rectangular Cross Sections in Compliant Mechanisms

Ruiyu Bai, Guimin Chen

J. Mechanisms Robotics. February 2021, 13(1): 011021. doi: https://doi.org/10.1115/1.4048753

Abstract

View articletitled, Modeling Large Spatial Deflections of Slender Beams of Rectangular Cross Sections in Compliant Mechanisms

Open the PDF for in another window

Topics: Compliant mechanisms , Deflection , Modeling , Stress

Design and Kinematic Analysis of a Flexible-Link Parallel Mechanism With a Spatially Quasi-Translational End Effector

Hao Pan, Genliang Chen, Yezheng Kang, Hao Wang

J. Mechanisms Robotics. February 2021, 13(1): 011022. doi: https://doi.org/10.1115/1.4048754

Abstract

View articletitled, Design and Kinematic Analysis of a Flexible-Link Parallel Mechanism With a Spatially Quasi-Translational End Effector

Open the PDF for in another window

Topics: Design , End effectors , Kinematics , Parallel mechanisms , Rods , Deformation , Wheels

Aerial Contact Manipulation With Soft End-Effector Compliance and Inverse Kinematic Compensation

Xinjun Sheng, Zhao Ma, Ningbin Zhang, Wei Dong

J. Mechanisms Robotics. February 2021, 13(1): 011023. doi: https://doi.org/10.1115/1.4048831

Abstract

View articletitled, Aerial Contact Manipulation With Soft End-Effector Compliance and Inverse Kinematic Compensation

Open the PDF for in another window

Topics: End effectors , Kinematics , Manipulators , Unmanned aerial vehicles , Control equipment , Errors

Limits of Extramobile and Intramobile Motion of Cylindrical Developable Mechanisms

Jared Butler, Jacob Greenwood, Larry L. Howell, Spencer Magleby

J. Mechanisms Robotics. February 2021, 13(1): 011024. doi: https://doi.org/10.1115/1.4048833

Abstract

View articletitled, Limits of Extramobile and Intramobile Motion of Cylindrical Developable Mechanisms

Open the PDF for in another window

Topics: Design , Linkages , Rotation , Engineering prototypes

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

Sven Lilge, Kathrin Nuelle, Georg Boettcher, Svenja Spindeldreier, Jessica Burgner-Kahrs

J. Mechanisms Robotics. February 2021, 13(1): 011025. doi: https://doi.org/10.1115/1.4049058

Abstract

View articletitled, Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

Open the PDF for in another window

Topics: Design , Kinematics , Robots , Chain , Tendons

Technical Briefs

Numerical Finger Kinematic Models Derived From Virtual Grasping of Various Cylindrical Objects With the Family of Conic Sections

Jong-Seob Won, Reza Langari, Nina Robson

J. Mechanisms Robotics. February 2021, 13(1): 014501. doi: https://doi.org/10.1115/1.4048257

Abstract

View articletitled, Numerical Finger Kinematic Models Derived From Virtual Grasping of Various Cylindrical Objects With the Family of Conic Sections

Open the PDF for in another window

Topics: Computer simulation , Cross section (Physics) , Grasping , Kinematics , Shapes , Nonlinear equations , Rotation , Modeling

Some Mathematical Problems Related to the Rubik’s Snake

Songming Hou, Yu Chen, Zilong Li

J. Mechanisms Robotics. February 2021, 13(1): 014502. doi: https://doi.org/10.1115/1.4048261

Abstract

View articletitled, Some Mathematical Problems Related to the Rubik’s Snake

Open the PDF for in another window

Topics: Design , Robots , Shape design , Shapes , Theorems (Mathematics) , Strips , Chain

Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

Julien M. Audet, Clément Gosselin

J. Mechanisms Robotics. February 2021, 13(1): 014503. doi: https://doi.org/10.1115/1.4048258

Abstract

View articletitled, Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

Open the PDF for in another window

Topics: Actuators , Architecture , Equilibrium (Physics) , Gravity (Force) , Human-robot interaction , Manipulators , Redundancy (Engineering) , Robots , Manufacturing , Springs

Gateway Configuration for Rapid Pick-and-Place Operations of 2-Degrees-of-Freedom Parallel Robots

Andrea Martin-Parra, David Rodriguez-Rosa, Sergio Juarez-Perez, Guillermo Rubio-Gomez, Antonio Gonzalez-Rodriguez, Fernando J. Castillo-Garcia

J. Mechanisms Robotics. February 2021, 13(1): 014504. doi: https://doi.org/10.1115/1.4048427

Abstract

View articletitled, Gateway Configuration for Rapid Pick-and-Place Operations of 2-Degrees-of-Freedom Parallel Robots

Open the PDF for in another window

Topics: End effectors , Energy consumption , Kinematics , Robots , Trajectories (Physics) , Gates (Closures) , Design , Torque , Dynamic models , Simulation

Design Innovation Papers

Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism

Shorya Awtar, Jason Quint, John Ustick

J. Mechanisms Robotics. February 2021, 13(1): 015001. doi: https://doi.org/10.1115/1.4048259

Abstract

View articletitled, Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism

Open the PDF for in another window

Topics: Actuators , Design , Errors , Flexure mechanisms , Kinematics , Manufacturing , Sensors , Stiffness , Finite element analysis , Bending (Stress)