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Nicolas Rojas
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Journal Articles

Force Evaluation of Tendon Routing for Underactuated Grasping

Angus B. Clark, Lois Liow, Nicolas Rojas
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. October 2021, 143(10): 104502.
Paper No: MD-20-1822
https://doi.org/10.1115/1.4050382
Published Online: April 9, 2021
View Article titled, Force Evaluation of Tendon Routing for Underactuated Grasping
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Topics: Grasping, Tendons, Design, Pulleys
Journal Articles

A Dynamically Balanced Kinematically Redundant Planar Parallel Robot

Nicholas Baron, Andrew Philippides, Nicolas Rojas
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2021, 143(8): 083301.
Paper No: MD-20-1506
https://doi.org/10.1115/1.4048963
Published Online: February 5, 2021
View Article titled, A Dynamically Balanced Kinematically Redundant Planar Parallel Robot
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Topics: Inertia (Mechanics), Manipulators, Robots, Simulation, Linkages
Journal Articles

A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability

Nicholas Baron, Andrew Philippides, Nicolas Rojas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011008.
Paper No: JMR-18-1151
https://doi.org/10.1115/1.4041698
Published Online: November 13, 2018
View Article titled, A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability
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Topics: Kinematics, Manipulators, Robots, Actuators, Rotation, Trajectories (Physics)
Journal Articles

Spherical Hands: Toward Underactuated, In-Hand Manipulation Invariant to Object Size and Grasp Location

Raymond R. Ma, Nicolas Rojas, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061021.
Paper No: JMR-16-1080
https://doi.org/10.1115/1.4034787
Published Online: October 25, 2016
View Article titled, Spherical Hands: Toward Underactuated, In-Hand Manipulation Invariant to Object Size and Grasp Location
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Topics: Design, Kinematics, Grasping, Displacement, Rotation, Stability, Geometry
Journal Articles

Classification and Kinematic Equivalents of Contact Types for Fingertip-Based Robot Hand Manipulation

Nicolas Rojas, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041014.
Paper No: JMR-15-1307
https://doi.org/10.1115/1.4032865
Published Online: March 28, 2016
View Article titled, Classification and Kinematic Equivalents of Contact Types for Fingertip-Based Robot Hand Manipulation
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Topics: Kinematics, Friction
Proceedings Papers

Design of a Passively-Adaptive Three Degree-of-Freedom Multi-Legged Robot With Underactuated Legs

Oren Y. Kanner, Nicolás Rojas, Aaron M. Dollar
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A062, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47867
https://doi.org/10.1115/DETC2015-47867
View Paper titled, Design of a Passively-Adaptive Three Degree-of-Freedom Multi-Legged Robot With Underactuated Legs
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Topics: Degrees of freedom, Design, Robots, Propulsion, Actuators, Clearances (Engineering), Engineering prototypes, Mechanical admittance, Simulation results, Surface roughness
Journal Articles

The Coupler Surface of the RSRS Mechanism

Nicolas Rojas, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 014505.
Paper No: JMR-15-1036
https://doi.org/10.1115/1.4030776
Published Online: August 18, 2015
View Article titled, The Coupler Surface of the RSRS Mechanism
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Topics: Algebra, Design, Kinematics, Linkages, Topology, Robotics, Degrees of freedom
Journal Articles

Application of Distance Geometry to Tracing Coupler Curves of Pin-Jointed Linkages

Nicolás Rojas, Federico Thomas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2013, 5(2): 021001.
Paper No: JMR-11-1082
https://doi.org/10.1115/1.4023515
Published Online: March 26, 2013
View Article titled, Application of Distance Geometry to Tracing Coupler Curves of Pin-Jointed Linkages
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Topics: Linkages, Geometry
Journal Articles

Closed-Form Solution to the Position Analysis of Watt–Baranov Trusses Using the Bilateration Method

Nicolás Rojas, Federico Thomas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2011, 3(3): 031001.
https://doi.org/10.1115/1.4004031
Published Online: July 1, 2011
View Article titled, Closed-Form Solution to the Position Analysis of Watt–Baranov Trusses Using the Bilateration Method
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Topics: Polynomials, Trusses (Building)