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Journal Articles

Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal

Zhefeng Huang, Hussain Alkhars, Anthony Gunderman, Dimitri Sigounas, Kevin Cleary, Yue Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081005.
Paper No: JMR-23-1356
https://doi.org/10.1115/1.4063979
Published Online: December 11, 2023
View Article titled, Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal
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Topics: Design, Risk, Robots, Fibers, Parametrization, Shapes, Brain, Damage, Geometry, Path planning
Journal Articles

Singularity Parametrization With a Novel Kinematic Decoupled Model for Non-Spherical Wrist Robots

Diego Rodriguez-Guerra, Gorka Sorrosal, Itziar Cabanes, Aitziber Mancisidor, Carlos Calleja
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051003.
Paper No: JMR-23-1019
https://doi.org/10.1115/1.4062586
Published Online: June 26, 2023
View Article titled, Singularity Parametrization With a Novel Kinematic Decoupled Model for Non-Spherical Wrist Robots
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Topics: Kinematics, Robots, Parametrization, Computation
Journal Articles

Sensitivity Analysis of a Suspended Cable-Driven Parallel Robot to Design Parameters

Thibaut Paty, Nicolas Binaud, Hong Wang, Stéphane Segonds
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061001.
Paper No: JMR-21-1745
https://doi.org/10.1115/1.4056234
Published Online: January 17, 2023
View Article titled, Sensitivity Analysis of a Suspended Cable-Driven Parallel Robot to Design Parameters
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Topics: Cables, Errors, Pulleys, Parametrization, Design, Dimensions, Experimental design
Journal Articles

Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization

MuBang Xiao, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021006.
Paper No: JMR-20-1325
https://doi.org/10.1115/1.4048916
Published Online: January 22, 2021
View Article titled, Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization
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Topics: Kinematics, Parametrization, Spin (Aerodynamics), Rotation
Journal Articles

Reconfigurable Mechanisms From the Intersection of Surfaces

P. C. López-Custodio, J. M. Rico, J. J. Cervantes-Sánchez, G. I. Pérez-Soto
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021029.
Paper No: JMR-15-1126
https://doi.org/10.1115/1.4032097
Published Online: March 2, 2016
View Article titled, Reconfigurable Mechanisms From the Intersection of Surfaces
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Topics: Bifurcation, Degrees of freedom, Generators, Kinematic chains, Kinematics, Linkages, Mechanical admittance, Screws, Rotation, Open kinematic chains