Volume 12 Issue 6 | J. Mechanisms Robotics

Research Papers

A New Index of Static Actuation Force Sensitivity of Mechanisms Based on Unified Forward Jacobian Matrix

J. Mechanisms Robotics. December 2020, 12(6): 061001. doi: https://doi.org/10.1115/1.4046976

View articletitled, A New Index of Static Actuation Force Sensitivity of Mechanisms Based on Unified Forward Jacobian Matrix

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Topics: End effectors , Jacobian matrices , Parallel mechanisms , Screws , Stress , Equations of state

A Lightweight Robotic Device Based on a Micro-Macro Actuation Concept for the Inspection of Railway Pantograph

Giancarlo Santamato, Domenico Chiaradia, Massimiliano Solazzi, Antonio Frisoli

J. Mechanisms Robotics. December 2020, 12(6): 061002. doi: https://doi.org/10.1115/1.4046995

Abstract

View articletitled, A Lightweight Robotic Device Based on a Micro-Macro Actuation Concept for the Inspection of Railway Pantograph

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Topics: Actuators , Design , Excitation , Inspection , Railroads , Robotics , Microactuators , Stress , Robots , Resonance

Master Device With Bending Safety for Flexible Surgical Robots

Daekeun Ji, Seongbo Shim, Seunguk Kim, Sanghyun Joung, Jaesung Hong

J. Mechanisms Robotics. December 2020, 12(6): 061003. doi: https://doi.org/10.1115/1.4046996

Abstract

View articletitled, Master Device With Bending Safety for Flexible Surgical Robots

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Topics: Robots , Surgery , Wire , Tension , Design , Kinematics

Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming

Wankun Sirichotiyakul, Volkan Patoglu, Aykut C. Satici

J. Mechanisms Robotics. December 2020, 12(6): 061004. doi: https://doi.org/10.1115/1.4046997

Abstract

View articletitled, Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming

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Topics: Approximation , Computer programming , Kinematics , Manipulators , Optimization , Polynomials , End effectors , Parallel mechanisms , Silicon-on-sapphire

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

Abstract

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

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

A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study

Theodosia Lourdes Thomas, Venkatasubramanian Kalpathy Venkiteswaran, G. K. Ananthasuresh, Sarthak Misra

J. Mechanisms Robotics. December 2020, 12(6): 061006. doi: https://doi.org/10.1115/1.4046838

Abstract

View articletitled, A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study

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Topics: Design , Manipulators , Stress , Deflection , Magnetic fields

Rotatability of the Floating Link on Multi-Loop Planar Linkages

Cody Leeheng Chan, Kwun-Lon Ting

J. Mechanisms Robotics. December 2020, 12(6): 061007. doi: https://doi.org/10.1115/1.4047175

Abstract

View articletitled, Rotatability of the Floating Link on Multi-Loop Planar Linkages

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Topics: Linkages , Rotation

Forward Kinematic Analysis of Kinematically Redundant Hybrid Parallel Robots

Kefei Wen, Clément M. Gosselin

J. Mechanisms Robotics. December 2020, 12(6): 061008. doi: https://doi.org/10.1115/1.4047176

Abstract

View articletitled, Forward Kinematic Analysis of Kinematically Redundant Hybrid Parallel Robots

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Topics: Kinematic analysis , Kinematics , Robots , Errors , Manufacturing

Overview and Kinetostatic Characterization of Compliant Shell Mechanism Building Blocks

Joep P. A. Nijssen, Giuseppe Radaelli, Charles J. Kim, Just L. Herder

J. Mechanisms Robotics. December 2020, 12(6): 061009. doi: https://doi.org/10.1115/1.4047344

Abstract

View articletitled, Overview and Kinetostatic Characterization of Compliant Shell Mechanism Building Blocks

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Topics: Blocks (Building materials) , Shells , Design

A Tunable Variable-Torque Compliant Hinge Using Open-Section Shells

Shamanth Hampali, Anoosha Pai S, G. K. Ananthasuresh

J. Mechanisms Robotics. December 2020, 12(6): 061010. doi: https://doi.org/10.1115/1.4047440

Abstract

View articletitled, A Tunable Variable-Torque Compliant Hinge Using Open-Section Shells

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Topics: Hinges , Shells , Torque , Engineering prototypes , Design , Stiffness , Springs , Blocks (Building materials)

Kinematically Identical Manipulators Derivation for the 2-RPU + UPR Parallel Manipulator and Their Constraint Performance Comparison

Bo Hu, Dongsheng Shi, Tengfei Xie, Bibo Hu, Nijia Ye

J. Mechanisms Robotics. December 2020, 12(6): 061011. doi: https://doi.org/10.1115/1.4047540

Abstract

View articletitled, Kinematically Identical Manipulators Derivation for the 2-RPU + UPR Parallel Manipulator and Their Constraint Performance Comparison

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Topics: Design , Manipulators

Shape Optimization Framework for the Path of the Primary Compliance Vector in Compliant Mechanisms

Hylke Kooistra, Charles J. Kim, Werner W. P. J. van de Sande, Just L. Herder

J. Mechanisms Robotics. December 2020, 12(6): 061012. doi: https://doi.org/10.1115/1.4047728

Abstract

View articletitled, Shape Optimization Framework for the Path of the Primary Compliance Vector in Compliant Mechanisms

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Topics: Compliant mechanisms , Design , Errors , Optimization , Shapes , Stress , Stiffness , Shells , Deformation , Trajectories (Physics)

Design of a Continuum Mechanism That Matches the Movement of an Eight-Bar Linkage

Xueao Liu, J. Michael McCarthy

J. Mechanisms Robotics. December 2020, 12(6): 061013. doi: https://doi.org/10.1115/1.4047439

Abstract

View articletitled, Design of a Continuum Mechanism That Matches the Movement of an Eight-Bar Linkage

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Topics: Design , Linkages , Bending (Stress) , Finite element analysis , Kinematics , Compliant mechanisms

Supernumerary Robotic Limbs to Assist Human Walking With Load Carriage

Ming Hao, Jiwen Zhang, Ken Chen, Harry Asada, Chenglong Fu

J. Mechanisms Robotics. December 2020, 12(6): 061014. doi: https://doi.org/10.1115/1.4047729

Abstract

View articletitled, Supernumerary Robotic Limbs to Assist Human Walking With Load Carriage

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Topics: Robotics , Stress , Weight (Mass) , Railroad passenger cars , Force control , Robots

Stable Grasp Control With a Robotic Exoskeleton Glove

Teja Vanteddu, Pinhas Ben-Tzvi

J. Mechanisms Robotics. December 2020, 12(6): 061015. doi: https://doi.org/10.1115/1.4047724

Abstract

View articletitled, Stable Grasp Control With a Robotic Exoskeleton Glove

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Topics: Algorithms , Deformation , Exoskeleton devices , Optimization , Linkages , Actuators , Grasping , Engineering prototypes , Seas

Simulation and Analysis of Microspines Interlocking Behavior on Rocky Surfaces: An In-Depth Study of the Isolated Spine

Saverio Iacoponi, Marcello Calisti, Cecilia Laschi

J. Mechanisms Robotics. December 2020, 12(6): 061016. doi: https://doi.org/10.1115/1.4047725

Abstract

View articletitled, Simulation and Analysis of Microspines Interlocking Behavior on Rocky Surfaces: An In-Depth Study of the Isolated Spine

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Topics: Design , Rocks , Simulation , Surface roughness , Fracture (Materials) , Fracture (Process) , Grippers , Concretes , Robotics

Nonlinear Oscillator-Based Gait Generation for a Novel Aero-Terrestrial Bioinspired Robotic System

C. Alberto Sánchez-Delgado, Juan Carlos Ávila Vilchis, Adriana H. Vilchis-González, Belem Saldivar

J. Mechanisms Robotics. December 2020, 12(6): 061017. doi: https://doi.org/10.1115/1.4047269

Abstract

View articletitled, Nonlinear Oscillator-Based Gait Generation for a Novel Aero-Terrestrial Bioinspired Robotic System

Supplementary data

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Topics: Actuators , Biomimetics , Flight , Generators , Robotics , Robots , Signals , Servomotors , Design , Computer simulation

Constant Force Spring System With a Spiral

Richard B. Hetnarski

J. Mechanisms Robotics. December 2020, 12(6): 061018. doi: https://doi.org/10.1115/1.4047982

Abstract

View articletitled, Constant Force Spring System With a Spiral

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Topics: Springs , Differential equations , Pulleys

Technical Brief

Workspace Augmentation for the Large-Scale Spherical Honeycombs Perfusion Using a Novel 5DOF Reconfigurable Manipulator

Hui Yang, Hairong Fang, Xiangyun Li, Yuefa Fang

J. Mechanisms Robotics. December 2020, 12(6): 064501. doi: https://doi.org/10.1115/1.4047157

Abstract

View articletitled, Workspace Augmentation for the Large-Scale Spherical Honeycombs Perfusion Using a Novel 5DOF Reconfigurable Manipulator

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Topics: Honeycomb structures , Kinematics , Manipulators

Design Innovation Paper

Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism

Ming Cheng, Shaowei Fan, Dapeng Yang, Li Jiang

J. Mechanisms Robotics. December 2020, 12(6): 065001. doi: https://doi.org/10.1115/1.4047730

Abstract

View articletitled, Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism

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Topics: Design , Stability , Stiffness , Artificial limbs , Springs

Research Papers

A New Index of Static Actuation Force Sensitivity of Mechanisms Based on Unified Forward Jacobian Matrix

A Lightweight Robotic Device Based on a Micro-Macro Actuation Concept for the Inspection of Railway Pantograph

Master Device With Bending Safety for Flexible Surgical Robots

Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming

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

A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study

Rotatability of the Floating Link on Multi-Loop Planar Linkages

Forward Kinematic Analysis of Kinematically Redundant Hybrid Parallel Robots

Overview and Kinetostatic Characterization of Compliant Shell Mechanism Building Blocks

A Tunable Variable-Torque Compliant Hinge Using Open-Section Shells

Kinematically Identical Manipulators Derivation for the 2-RPU + UPR Parallel Manipulator and Their Constraint Performance Comparison

Shape Optimization Framework for the Path of the Primary Compliance Vector in Compliant Mechanisms

Design of a Continuum Mechanism That Matches the Movement of an Eight-Bar Linkage

Supernumerary Robotic Limbs to Assist Human Walking With Load Carriage

Stable Grasp Control With a Robotic Exoskeleton Glove

Simulation and Analysis of Microspines Interlocking Behavior on Rocky Surfaces: An In-Depth Study of the Isolated Spine

Nonlinear Oscillator-Based Gait Generation for a Novel Aero-Terrestrial Bioinspired Robotic System

Constant Force Spring System With a Spiral

Technical Brief

Workspace Augmentation for the Large-Scale Spherical Honeycombs Perfusion Using a Novel 5DOF Reconfigurable Manipulator

Design Innovation Paper

Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism

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