Volume 9 Issue 5 | J. Mechanisms Robotics

Skip Nav Destination

Research Papers

Design and Implementation of a Leg–Wheel Robot: Transleg

Zhong Wei, Guangming Song, Guifang Qiao, Ying Zhang, Huiyu Sun

J. Mechanisms Robotics. October 2017, 9(5): 051001. doi: https://doi.org/10.1115/1.4037018

Abstract

View articletitled, Design and Implementation of a Leg–Wheel Robot: Transleg

Open the PDF for in another window

Topics: Actuators , Design , Knee , Robots , Wheels , Wire , Yaw , Rotation

Reconfiguration Analysis of Multimode Single-Loop Spatial Mechanisms Using Dual Quaternions

Xianwen Kong

J. Mechanisms Robotics. October 2017, 9(5): 051002. doi: https://doi.org/10.1115/1.4037111

Abstract

View articletitled, Reconfiguration Analysis of Multimode Single-Loop Spatial Mechanisms Using Dual Quaternions

Open the PDF for in another window

Topics: Algebra , Circuits , Geometry , Kinematics , Polynomials , Robots , Kinematic analysis , Robotics , Computers

A Novel Three-Loop Parallel Robot With Full Mobility: Kinematics, Singularity, Workspace, and Dexterity Analysis

Wei Li, Jorge Angeles

J. Mechanisms Robotics. October 2017, 9(5): 051003. doi: https://doi.org/10.1115/1.4037112

Abstract

View articletitled, A Novel Three-Loop Parallel Robot With Full Mobility: Kinematics, Singularity, Workspace, and Dexterity Analysis

Open the PDF for in another window

Topics: Design , Jacobian matrices , Robots , Kinematics , Mechanical admittance

Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing

Bruno Belzile, Lionel Birglen

J. Mechanisms Robotics. October 2017, 9(5): 051004. doi: https://doi.org/10.1115/1.4037113

Abstract

View articletitled, Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing

Open the PDF for in another window

Topics: Design , Stiffness , Optimization , Algorithms , Actuators

Kinematic Optimization of a Five Degrees-of-Freedom Spatial Parallel Mechanism With Large Orientational Workspace

Fugui Xie, Xin-Jun Liu, Jinsong Wang, Markus Wabner

J. Mechanisms Robotics. October 2017, 9(5): 051005. doi: https://doi.org/10.1115/1.4037254

Abstract

View articletitled, Kinematic Optimization of a Five Degrees-of-Freedom Spatial Parallel Mechanism With Large Orientational Workspace

Open the PDF for in another window

Topics: Degrees of freedom , Design , Kinematics , Optimization , Parallel mechanisms , Performance evaluation , Machinery

Geometric Construction-Based Realization of Planar Elastic Behaviors With Parallel and Serial Manipulators

Shuguang Huang, Joseph M. Schimmels

J. Mechanisms Robotics. October 2017, 9(5): 051006. doi: https://doi.org/10.1115/1.4037019

Abstract

View articletitled, Geometric Construction-Based Realization of Planar Elastic Behaviors With Parallel and Serial Manipulators

Open the PDF for in another window

Topics: Elasticity , Parallel mechanisms , Springs , Stiffness , Geometry , Construction

Design and Evaluation of a Balance Assistance Control Moment Gyroscope

Daniel Lemus, Jan van Frankenhuyzen, Heike Vallery

J. Mechanisms Robotics. October 2017, 9(5): 051007. doi: https://doi.org/10.1115/1.4037255

Abstract

View articletitled, Design and Evaluation of a Balance Assistance Control Moment Gyroscope

Open the PDF for in another window

Topics: Design , Flywheels , Actuators

A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing

Damien Six, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet

J. Mechanisms Robotics. October 2017, 9(5): 051008. doi: https://doi.org/10.1115/1.4037256

Abstract

View articletitled, A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing

Open the PDF for in another window

Topics: Dynamic models , Robots , Control equipment , Trajectories (Physics)

Benchmark of the Compactness Potential of Adjustable Stiffness Mechanisms

Marius Stücheli, Marianne Schmid Daners, Mirko Meboldt

J. Mechanisms Robotics. October 2017, 9(5): 051009. doi: https://doi.org/10.1115/1.4037114

Abstract

View articletitled, Benchmark of the Compactness Potential of Adjustable Stiffness Mechanisms

Open the PDF for in another window

Topics: Deflection , Design , Springs , Stiffness , Torque , Algorithms

Analysis for Feasibility of the Method for Bars Driving the Ball Tensegrity Robot

Ani Luo, Heping Liu

J. Mechanisms Robotics. October 2017, 9(5): 051010. doi: https://doi.org/10.1115/1.4037565

Abstract

View articletitled, Analysis for Feasibility of the Method for Bars Driving the Ball Tensegrity Robot

Open the PDF for in another window

Topics: Deformation , Robots , Tensegrity , Tensegrity structures

A Linear Multiport Network Approach for Elastically Coupled Underactuated Grippers

Michael J. Martell, J. C. Díaz, Joshua A. Schultz

J. Mechanisms Robotics. October 2017, 9(5): 051012. doi: https://doi.org/10.1115/1.4037566

Abstract

View articletitled, A Linear Multiport Network Approach for Elastically Coupled Underactuated Grippers

Open the PDF for in another window

Topics: Actuators , Compliant mechanisms , Displacement , Gates (Closures) , Grasping , Grippers , Stiffness , Tendons , Internet , Stability

Synthesis and Singularity Analysis of N- $U U$ Parallel Wrists: A Symmetric Space Approach

Yuanqing Wu, Marco Carricato

J. Mechanisms Robotics. October 2017, 9(5): 051013. doi: https://doi.org/10.1115/1.4037547

Abstract

View articletitled, Synthesis and Singularity Analysis of N-<math xmlns="http://www.w3.org/1998/Math/MathML"><mrow xmlns=""><mi mathvariant="script">U</mi><mi mathvariant="script">U</mi></mrow></math> Parallel Wrists: A Symmetric Space Approach

Open the PDF for in another window

Topics: Design , Displacement , Kinematics , Parallel mechanisms , Mirrors , Geometry

Development of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes

Te Li, Shugen Ma, Bin Li, Minghui Wang, Zhiqiang Li, Yongqing Wang

J. Mechanisms Robotics. October 2017, 9(5): 051014. doi: https://doi.org/10.1115/1.4037617

Abstract

View articletitled, Development of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes

Open the PDF for in another window

Topics: Design , Pipes , Robots , Screws , Springs , Rollers

Identification and Comparison for Continuous Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms

Jingjun Yu, Zhao Jin, Xianwen Kong

J. Mechanisms Robotics. October 2017, 9(5): 051015. doi: https://doi.org/10.1115/1.4037568

Abstract

View articletitled, Identification and Comparison for Continuous Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms

Open the PDF for in another window

Topics: Rotation , Scanning probe microscopy , Kinematics , Torsion

An Approach for the Lightweight Design of a 3-SPR Parallel Mechanism

Manxin Wang, Haitao Liu, Tian Huang

J. Mechanisms Robotics. October 2017, 9(5): 051016. doi: https://doi.org/10.1115/1.4037618

Abstract

View articletitled, An Approach for the Lightweight Design of a 3-SPR Parallel Mechanism

Open the PDF for in another window

Topics: Design , Parallel mechanisms , Stiffness

Research Papers

A Discrete Control Lyapunov Function for Exponential Orbital Stabilization of the Simplest Walker

Pranav A. Bhounsule, Ali Zamani

J. Mechanisms Robotics. October 2017, 9(5): 051011. doi: https://doi.org/10.1115/1.4037440

Abstract

View articletitled, A Discrete Control Lyapunov Function for Exponential Orbital Stabilization of the Simplest Walker

Open the PDF for in another window

Topics: Control equipment , Dynamics (Mechanics) , Eigenvalues , Robustness , Stability , Torque , Actuators , Limit cycles , Failure , Robots

Technical Brief

Enumeration of Configurations and Their Kinematics for ModRED II Modular Robots

Kazi M. Hossain, Carl A. Nelson, Prithviraj Dasgupta

J. Mechanisms Robotics. October 2017, 9(5): 054501. doi: https://doi.org/10.1115/1.4036740

Abstract

View articletitled, Enumeration of Configurations and Their Kinematics for ModRED II Modular Robots

Open the PDF for in another window

Topics: Kinematics , Robots

An Evolutionary Soft-Add Topology Optimization Method for Synthesis of Compliant Mechanisms With Maximum Output Displacement

Chih-Hsing Liu, Guo-Feng Huang, Ta-Lun Chen

J. Mechanisms Robotics. October 2017, 9(5): 054502. doi: https://doi.org/10.1115/1.4037000

Abstract

View articletitled, An Evolutionary Soft-Add Topology Optimization Method for Synthesis of Compliant Mechanisms With Maximum Output Displacement

Open the PDF for in another window

Topics: Compliant mechanisms , Design , Optimization , Stiffness , Topology , Displacement , Springs

Accuracy Assessment of Pseudo-Rigid-Body Model for Dynamic Analysis of Compliant Mechanisms

Na Li, Hai-Jun Su, Xian-Peng Zhang

J. Mechanisms Robotics. October 2017, 9(5): 054503. doi: https://doi.org/10.1115/1.4037186

Abstract

View articletitled, Accuracy Assessment of Pseudo-Rigid-Body Model for Dynamic Analysis of Compliant Mechanisms

Open the PDF for in another window

Topics: Compliant mechanisms , Dynamic analysis , Dynamics (Mechanics) , Errors , Dynamic response , Simulation

Type Synthesis of Parallel Tracking Mechanism With Varied Axes by Modeling Its Finite Motions Algebraically

Yang Qi, Tao Sun, Yimin Song

J. Mechanisms Robotics. October 2017, 9(5): 054504. doi: https://doi.org/10.1115/1.4037548

Abstract

View articletitled, Type Synthesis of Parallel Tracking Mechanism With Varied Axes by Modeling Its Finite Motions Algebraically

Open the PDF for in another window

Topics: Algebra , Kinematic analysis , Manufacturing , Modeling , Rotation , Degrees of freedom , Design

Errata

Erratum: “A Statically Unstable Passive Hopper: Design Evolution” [ASME J. Mech. Rob., 2017, 9(1), p. 011016; DOI: 10.1115/1.4035222]

J. Mechanisms Robotics. October 2017, 9(5): 057001. doi: https://doi.org/10.1115/1.4037077

Extract

View articletitled, Erratum: “A Statically Unstable Passive Hopper: Design Evolution” [ASME J. Mech. Rob., 2017, 9(1), p. 011016; DOI: 10.1115/1.4035222]

Open the PDF for in another window

Topics: Design , Biomimetics

Research Papers

Design and Implementation of a Leg–Wheel Robot: Transleg

Reconfiguration Analysis of Multimode Single-Loop Spatial Mechanisms Using Dual Quaternions

A Novel Three-Loop Parallel Robot With Full Mobility: Kinematics, Singularity, Workspace, and Dexterity Analysis

Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing

Kinematic Optimization of a Five Degrees-of-Freedom Spatial Parallel Mechanism With Large Orientational Workspace

Geometric Construction-Based Realization of Planar Elastic Behaviors With Parallel and Serial Manipulators

Design and Evaluation of a Balance Assistance Control Moment Gyroscope

A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing

Benchmark of the Compactness Potential of Adjustable Stiffness Mechanisms

Analysis for Feasibility of the Method for Bars Driving the Ball Tensegrity Robot

A Linear Multiport Network Approach for Elastically Coupled Underactuated Grippers

Synthesis and Singularity Analysis of N- $U U$ Parallel Wrists: A Symmetric Space Approach

Development of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes

Identification and Comparison for Continuous Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms

An Approach for the Lightweight Design of a 3-SPR Parallel Mechanism

Research Papers

A Discrete Control Lyapunov Function for Exponential Orbital Stabilization of the Simplest Walker

Technical Brief

Enumeration of Configurations and Their Kinematics for ModRED II Modular Robots

An Evolutionary Soft-Add Topology Optimization Method for Synthesis of Compliant Mechanisms With Maximum Output Displacement

Accuracy Assessment of Pseudo-Rigid-Body Model for Dynamic Analysis of Compliant Mechanisms

Type Synthesis of Parallel Tracking Mechanism With Varied Axes by Modeling Its Finite Motions Algebraically

Errata

Erratum: “A Statically Unstable Passive Hopper: Design Evolution” [ASME J. Mech. Rob., 2017, 9(1), p. 011016; DOI: 10.1115/1.4035222]

Email alerts

RSS Feeds

ASME Journals

ASME Conference Proceedings

ASME eBooks

Resources

Opportunities

Issues

Research Papers

Research Papers

Technical Brief

Errata

Email alerts

RSS Feeds

ASME Journals

ASME Conference Proceedings

ASME eBooks

Resources

Opportunities

This Feature Is Available To Subscribers Only