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Journal Articles

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu

J. Mechanisms Robotics. December 2023, 15(6): 061014.

Paper No: JMR-22-1409

DOI: https://doi.org/10.1115/1.4056577

Published Online: January 23, 2023

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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control

Journal Articles

Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems

Fujie Yu, Qilong Zhu, Yuan Chen

J. Mechanisms Robotics. December 2023, 15(6): 064501.

Paper No: JMR-22-1280

DOI: https://doi.org/10.1115/1.4056378

Published Online: January 18, 2023

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Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds

Journal Articles

A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance

Junchen Wang, Chunheng Lu, Yinghao Zhang, Zhen Sun, Yu Shen

J. Mechanisms Robotics. October 2022, 14(5): 051005.

Paper No: JMR-21-1252

DOI: https://doi.org/10.1115/1.4053375

Published Online: February 18, 2022

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Topics: Kinematics, Manipulators, Algorithms, Manifolds

Journal Articles

Application of Floquet Theory to Human Gait Kinematics and Dynamics

Sandesh G. Bhat, Susheelkumar C. Subramanian, Thomas S. Sugar, Sangram Redkar

J. Mechanisms Robotics. December 2021, 13(6): 061003.

Paper No: JMR-20-1471

DOI: https://doi.org/10.1115/1.4050199

Published Online: May 31, 2021

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Topics: Dynamic systems, Dynamics (Mechanics), Kinematics, Time series, Manifolds, Knee, Stability

Journal Articles

On the Optimal Resolution of Inverse Kinematics for Redundant Manipulators Using a Topological Analysis

Enrico Ferrentino, Pasquale Chiacchio

J. Mechanisms Robotics. June 2020, 12(3): 031002.

Paper No: JMR-19-1152

DOI: https://doi.org/10.1115/1.4045178

Published Online: January 10, 2020

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Topics: Algorithms, Kinematics, Manipulators, Redundancy (Engineering), Variational techniques, Resolution (Optics), Manifolds, Dynamic programming

Journal Articles

Compositional Submanifolds of Prismatic–Universal–Prismatic and Skewed Prismatic–Revolute– Prismatic Kinematic Chains and Their Derived Parallel Mechanisms

Xinsheng Zhang, Pablo López-Custodio, Jian S. Dai

J. Mechanisms Robotics. June 2018, 10(3): 031001.

Paper No: JMR-16-1303

DOI: https://doi.org/10.1115/1.4038218

Published Online: March 1, 2018

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Topics: Chain, Displacement, Kinematic chains, Parallel mechanisms, Rotation, Kinematics, Manifolds, Screws

Journal Articles

Higher-Order Analysis of Kinematic Singularities of Lower Pair Linkages and Serial Manipulators

Andreas Müller

J. Mechanisms Robotics. February 2018, 10(1): 011008.

Paper No: JMR-16-1390

DOI: https://doi.org/10.1115/1.4038528

Published Online: December 22, 2017

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Topics: Kinematics, Linkages, Manifolds, Manipulators, Screws

Journal Articles

A Unified Approach to Exact and Approximate Motion Synthesis of Spherical Four-Bar Linkages Via Kinematic Mapping

Xiangyun Li, Ping Zhao, Anurag Purwar, Q. J. Ge

J. Mechanisms Robotics. February 2018, 10(1): 011003.

Paper No: JMR-17-1127

DOI: https://doi.org/10.1115/1.4038305

Published Online: December 20, 2017

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Topics: Design, Fittings, Kinematics, Linkages, Manifolds, Errors

Journal Articles

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.

Paper No: JMR-17-1048

DOI: https://doi.org/10.1115/1.4037801

Published Online: September 18, 2017

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

Journal Articles

Kinematics for an Actuated Flexible n -Manifold

Oded Medina, Amir Shapiro, Nir Shvalb

J. Mechanisms Robotics. April 2016, 8(2): 021009.

Paper No: JMR-15-1028

DOI: https://doi.org/10.1115/1.4031301

Published Online: November 24, 2015

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Topics: Atomic force microscopy, Kinematics, Manifolds, Robots

Journal Articles

A Unified Algorithm for Analysis and Simulation of Planar Four-Bar Motions Defined With R- and P-Joints

Xiangyun Li, Xin Ge, Anurag Purwar, Q. J. Ge

J. Mechanisms Robotics. February 2015, 7(1): 011014.

Paper No: JMR-14-1271

DOI: https://doi.org/10.1115/1.4029295

Published Online: February 1, 2015

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Topics: Algorithms, Linkages, Manifolds

Journal Articles

A New Class of Adaptive Parallel Robots

Gianmarc Coppola, Dan Zhang, Kefu Liu

J. Mechanisms Robotics. November 2014, 6(4): 041013.

Paper No: JMR-13-1134

DOI: https://doi.org/10.1115/1.4027875

Published Online: July 2, 2014

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Topics: Kinematics, Manipulators, Stiffness, Actuators, Screws, Manifolds

Journal Articles

On the Manifold Property of the Set of Singularities of Kinematic Mappings: Genericity Conditions

Andreas Müller

J. Mechanisms Robotics. February 2012, 4(1): 011006.

DOI: https://doi.org/10.1115/1.4005524

Published Online: February 3, 2012

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Topics: Kinematics, Manifolds, Theorems (Mathematics), Screws, Kinematic chains

Journal Articles

Quotient Kinematics Machines: Concept, Analysis, and Synthesis

Yuanqing Wu, Hong Wang, Zexiang Li

J. Mechanisms Robotics. November 2011, 3(4): 041004.

DOI: https://doi.org/10.1115/1.4004891

Published Online: September 26, 2011

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Topics: Kinematics, Machinery, Manifolds

Journal Articles

Posture, Workspace, and Manipulability of the Metamorphic Multifingered Hand With an Articulated Palm

Lei Cui, Jian S. Dai

J. Mechanisms Robotics. May 2011, 3(2): 021001.

DOI: https://doi.org/10.1115/1.4003414

Published Online: March 2, 2011

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Topics: Jacobian matrices, Manifolds, Screws, Dimensions, Manipulators

Journal Articles

On the Manifold Property of the Set of Singularities of Kinematic Mappings: Modeling, Classification, and Genericity

Andreas Müller

J. Mechanisms Robotics. February 2011, 3(1): 011006.

DOI: https://doi.org/10.1115/1.4002695

Published Online: November 30, 2010

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Topics: Kinematics, Manifolds, Deformation, Geometry, Kinematic chains

Journal Articles

Interactive Dimensional Synthesis and Motion Design of Planar 6 R Single-Loop Closed Chains via Constraint Manifold Modification

Jun Wu, Anurag Purwar, Q. J. Ge

J. Mechanisms Robotics. August 2010, 2(3): 031012.

DOI: https://doi.org/10.1115/1.4001775

Published Online: July 23, 2010

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Topics: Chain, Design, Manifolds

Journal citation

NARROW

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems

A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance

Application of Floquet Theory to Human Gait Kinematics and Dynamics

On the Optimal Resolution of Inverse Kinematics for Redundant Manipulators Using a Topological Analysis

Compositional Submanifolds of Prismatic–Universal–Prismatic and Skewed Prismatic–Revolute– Prismatic Kinematic Chains and Their Derived Parallel Mechanisms

Higher-Order Analysis of Kinematic Singularities of Lower Pair Linkages and Serial Manipulators

A Unified Approach to Exact and Approximate Motion Synthesis of Spherical Four-Bar Linkages Via Kinematic Mapping

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

Kinematics for an Actuated Flexible n -Manifold

A Unified Algorithm for Analysis and Simulation of Planar Four-Bar Motions Defined With R- and P-Joints

A New Class of Adaptive Parallel Robots

On the Manifold Property of the Set of Singularities of Kinematic Mappings: Genericity Conditions

Quotient Kinematics Machines: Concept, Analysis, and Synthesis

Posture, Workspace, and Manipulability of the Metamorphic Multifingered Hand With an Articulated Palm

On the Manifold Property of the Set of Singularities of Kinematic Mappings: Modeling, Classification, and Genericity

Interactive Dimensional Synthesis and Motion Design of Planar 6 R Single-Loop Closed Chains via Constraint Manifold Modification

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