Volume 9 Issue 6 | J. Mechanisms Robotics

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Volume 9, Issue 6

December 2017

ISSN 1942-4302

EISSN 1942-4310

Research Papers

Clearance-Induced Position Uncertainty of Planar Linkages and Parallel Manipulators

Kwun-Lon Ting, Kuan-Lun Hsu, Jun Wang

J. Mechanisms Robotics. December 2017, 9(6): 061001. doi: https://doi.org/10.1115/1.4037619

Abstract

View articletitled, Clearance-Induced Position Uncertainty of Planar Linkages and Parallel Manipulators

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Topics: Clearances (Engineering) , Linkages , Manipulators , Robots , Uncertainty

Design and Development of a Compact High-Torque Robotic Actuator for Space Mechanisms

Elias Brassitos, Nader Jalili

J. Mechanisms Robotics. December 2017, 9(6): 061002. doi: https://doi.org/10.1115/1.4037567

Abstract

View articletitled, Design and Development of a Compact High-Torque Robotic Actuator for Space Mechanisms

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Topics: Actuators , Design , Gears , Robotics , Robots , Torque , Motors , Engines , Bearings , Density

Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion

Bob G. Bijlsma, Giuseppe Radaelli, Just L. Herder

J. Mechanisms Robotics. December 2017, 9(6): 061003. doi: https://doi.org/10.1115/1.4037616

Abstract

View articletitled, Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion

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Topics: Design , Gears , Pendulums , Gravity (Force)

Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks

Pedro Araujo-Gómez, Vicente Mata, Miguel Díaz-Rodríguez, Angel Valera, Alvaro Page

J. Mechanisms Robotics. December 2017, 9(6): 061004. doi: https://doi.org/10.1115/1.4037800

Abstract

View articletitled, Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks

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Topics: Design , Displacement , Kinematics , Knee , Robots , Screws , Mechanical admittance , Jacobian matrices , End effectors , Conceptual design

A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem

Shrinath Deshpande, Anurag Purwar

J. Mechanisms Robotics. December 2017, 9(6): 061005. doi: https://doi.org/10.1115/1.4037801

Abstract

View articletitled, A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem

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Topics: Algebra , Errors , Fittings , Linkages , Kinematics , Error functions , Algorithms , Manifolds , Design , Dimensions

Dynamic Structural and Contact Modeling for a Silicon Hexapod Microrobot

Jinhong Qu, Jongsoo Choi, Kenn R. Oldham

J. Mechanisms Robotics. December 2017, 9(6): 061006. doi: https://doi.org/10.1115/1.4037802

Abstract

View articletitled, Dynamic Structural and Contact Modeling for a Silicon Hexapod Microrobot

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Topics: Robots , Resonance , Adhesion , Dynamics (Mechanics) , Dynamic models , Testing , Vibration , Silicon

Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory

Long Kang, Wheekuk Kim, Byung-Ju Yi

J. Mechanisms Robotics. December 2017, 9(6): 061007. doi: https://doi.org/10.1115/1.4037805

Abstract

View articletitled, Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory

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Topics: Kinematics , Redundancy (Engineering) , Screws , Mechanical admittance , Modeling

Locomotion of a Mini Bristle Robot With Inertial Excitation

Tadeusz Majewski, Dariusz Szwedowicz, Maciej Majewski

J. Mechanisms Robotics. December 2017, 9(6): 061008. doi: https://doi.org/10.1115/1.4037892

Abstract

View articletitled, Locomotion of a Mini Bristle Robot With Inertial Excitation

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Topics: Robots , Friction , Vibration

On the Solutions of Interval Systems for Under-Constrained and Redundant Parallel Manipulators

Leila Notash

J. Mechanisms Robotics. December 2017, 9(6): 061009. doi: https://doi.org/10.1115/1.4037803

Abstract

View articletitled, On the Solutions of Interval Systems for Under-Constrained and Redundant Parallel Manipulators

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Topics: Actuators , Analytical methods , Jacobian matrices , Linear systems , Manipulators , Redundant manipulators , Hull

Modeling of Dive Maneuvers for Executing Autonomous Dives With a Flapping Wing Air Vehicle

Luke J. Roberts, Hugh A. Bruck, S. K. Gupta

J. Mechanisms Robotics. December 2017, 9(6): 061010. doi: https://doi.org/10.1115/1.4037760

Abstract

View articletitled, Modeling of Dive Maneuvers for Executing Autonomous Dives With a Flapping Wing Air Vehicle

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Topics: Flight , Vehicles , Wings , Modeling , Flat plates , Design , Errors

Design and Development of a Dual-Axis Force Sensing MEMS Microgripper

Sijie Yang, Qingsong Xu, Zhijie Nan

J. Mechanisms Robotics. December 2017, 9(6): 061011. doi: https://doi.org/10.1115/1.4038010

Abstract

View articletitled, Design and Development of a Dual-Axis Force Sensing MEMS Microgripper

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Topics: Design , Displacement , Force sensors , Grippers , Sensors , Microelectromechanical systems , Finite element analysis , Actuators , Simulation , Manufacturing

Design Procedure for a Fast and Accurate Parallel Manipulator

Sébastien Briot, Stéphane Caro, Coralie Germain

J. Mechanisms Robotics. December 2017, 9(6): 061012. doi: https://doi.org/10.1115/1.4038009

Abstract

View articletitled, Design Procedure for a Fast and Accurate Parallel Manipulator

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Topics: Design , Robots , Optimization , Engineering prototypes , Manipulators

Controllability Ellipsoid to Evaluate the Performance of Mobile Manipulators for Manufacturing Tasks

Stephen L. Canfield, Reabetswe M. Nkhumise

J. Mechanisms Robotics. December 2017, 9(6): 061013. doi: https://doi.org/10.1115/1.4038007

Abstract

View articletitled, Controllability Ellipsoid to Evaluate the Performance of Mobile Manipulators for Manufacturing Tasks

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Topics: Design , Kinematics , Manipulators , Manufacturing , Robots , Welding , Control equipment , System dynamics

Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model

Sana Baklouti, Eric Courteille, Stéphane Caro, Mohamed Dkhil

J. Mechanisms Robotics. December 2017, 9(6): 061014. doi: https://doi.org/10.1115/1.4038068

Abstract

View articletitled, Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model

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Topics: Cables , Tension , End effectors , Elastic moduli

A Design Tool for a Single Vertex Compliant-Facet Origami Mechanism Including Torsional Hinge Lines

Jelle Rommers, Giuseppe Radaelli, Just L. Herder

J. Mechanisms Robotics. December 2017, 9(6): 061015. doi: https://doi.org/10.1115/1.4038008

Abstract

View articletitled, A Design Tool for a Single Vertex Compliant-Facet Origami Mechanism Including Torsional Hinge Lines

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Topics: Design , Hinges , Stiffness

A New Family of Deployable Mechanisms Derived From Two-Layer and Two-Loop Spatial Linkages With Five Revolute Pair Coupling Chains

Wen-ao Cao, Donghao Yang, Huafeng Ding

J. Mechanisms Robotics. December 2017, 9(6): 061016. doi: https://doi.org/10.1115/1.4038065

Abstract

View articletitled, A New Family of Deployable Mechanisms Derived From Two-Layer and Two-Loop Spatial Linkages With Five Revolute Pair Coupling Chains

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Topics: Chain , Linkages , Manufacturing

Microgripper-Embedded Fluid Fingertip-Enhancing Positioning and Holding Abilities for Versatile Grasping

Toshihiro Nishimura, Yoshinori Fujihira, Tetsuyou Watanabe

J. Mechanisms Robotics. December 2017, 9(6): 061017. doi: https://doi.org/10.1115/1.4038217

Abstract

View articletitled, Microgripper-Embedded Fluid Fingertip-Enhancing Positioning and Holding Abilities for Versatile Grasping

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Topics: Fluids , Grasping , Rubber , Grippers , Design , Shapes

Technical Brief

On RCCC Linkage Motion Generation With Defect Elimination for an Indefinite Number of Precision Positions

Wen-Tzong Lee, Jose Cosme, Kevin Russell

J. Mechanisms Robotics. December 2017, 9(6): 064501. doi: https://doi.org/10.1115/1.4038066

Abstract

View articletitled, On RCCC Linkage Motion Generation With Defect Elimination for an Indefinite Number of Precision Positions

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Topics: Linkages , Optimization , Displacement , Matlab , Kinematics

Full-Scale Measurement on the Aerodynamics of Nonplanar Rotor Pairs in a Hexacopter

Yao Lei, Yuxia Ji, Changwei Wang, Yue Bai, Zhijun Xu

J. Mechanisms Robotics. December 2017, 9(6): 064502. doi: https://doi.org/10.1115/1.4038067

Abstract

View articletitled, Full-Scale Measurement on the Aerodynamics of Nonplanar Rotor Pairs in a Hexacopter

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Topics: Disks , Rotors , Thrust , Design , Aerodynamics

Errata

Erratum: “Finding Only Finite Roots to Large Kinematic Synthesis Systems” [ASME J. Mech. Rob., 2017, 9(2), p. 021005; DOI: 10.1115/1.4035967]

Mark M. Plecnik, Ronald S. Fearing

J. Mechanisms Robotics. December 2017, 9(6): 067001. doi: https://doi.org/10.1115/1.4037804

Extract

View articletitled, Erratum: “Finding Only Finite Roots to Large Kinematic Synthesis Systems” [ASME J. Mech. Rob., 2017, 9(2), p. 021005; DOI: 10.1115/1.4035967]

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Topics: Kinematics

Research Papers

Clearance-Induced Position Uncertainty of Planar Linkages and Parallel Manipulators

Design and Development of a Compact High-Torque Robotic Actuator for Space Mechanisms

Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion

Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks

A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem

Dynamic Structural and Contact Modeling for a Silicon Hexapod Microrobot

Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory

Locomotion of a Mini Bristle Robot With Inertial Excitation

On the Solutions of Interval Systems for Under-Constrained and Redundant Parallel Manipulators

Modeling of Dive Maneuvers for Executing Autonomous Dives With a Flapping Wing Air Vehicle

Design and Development of a Dual-Axis Force Sensing MEMS Microgripper

Design Procedure for a Fast and Accurate Parallel Manipulator

Controllability Ellipsoid to Evaluate the Performance of Mobile Manipulators for Manufacturing Tasks

Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model

A Design Tool for a Single Vertex Compliant-Facet Origami Mechanism Including Torsional Hinge Lines

A New Family of Deployable Mechanisms Derived From Two-Layer and Two-Loop Spatial Linkages With Five Revolute Pair Coupling Chains

Microgripper-Embedded Fluid Fingertip-Enhancing Positioning and Holding Abilities for Versatile Grasping

Technical Brief

On RCCC Linkage Motion Generation With Defect Elimination for an Indefinite Number of Precision Positions

Full-Scale Measurement on the Aerodynamics of Nonplanar Rotor Pairs in a Hexacopter

Errata

Erratum: “Finding Only Finite Roots to Large Kinematic Synthesis Systems” [ASME J. Mech. Rob., 2017, 9(2), p. 021005; DOI: 10.1115/1.4035967]

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