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Journal Articles

Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices

Shuangshuang Zhang, Linsong Zhang

J. Mechanisms Robotics.

Paper No: JMR-22-1513

DOI: https://doi.org/10.1115/1.4062134

Published Online: March 13, 2023

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Topics: Deformation, Manipulators, Modeling, Stiffness, Stress, Equilibrium (Physics), Parallel mechanisms, Computational methods, Design, Finite element analysis

Journal Articles

Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles

Chi-Shiun Jhuang, Chia-Wei Juang, Dar-Zen Chen

J. Mechanisms Robotics. March 2024, 16(3): 031006.

Paper No: JMR-22-1390

DOI: https://doi.org/10.1115/1.4056960

Published Online: March 8, 2023

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Topics: Manipulators, Springs, Torque

Journal Articles

Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor

Sergey Pisetskiy, Mehrdad R. Kermani

J. Mechanisms Robotics. February 2024, 16(2): 021003.

Paper No: JMR-22-1059

DOI: https://doi.org/10.1115/1.4056672

Published Online: March 3, 2023

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Topics: Belts, Design, Engines, Manipulators, Motors, Robots, Gears

Journal Articles

Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator

Cole Woods, Vishesh Vikas

J. Mechanisms Robotics.

Paper No: JMR-22-1273

DOI: https://doi.org/10.1115/1.4056959

Published Online: February 23, 2023

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Topics: Design, Manipulators, Modeling, Tensegrity

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 Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators

Sri Sadhan Jujjavarapu, Hemanth Manjunatha, Ehsan Tarkesh Esfahani

J. Mechanisms Robotics. December 2023, 15(6): 061003.

Paper No: JMR-22-1198

DOI: https://doi.org/10.1115/1.4056235

Published Online: January 17, 2023

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Topics: Hammers, Magnets, Robots, Stiffness, Trajectories (Physics), End effectors, Manipulators, Optimization, Displacement, Energy storage

Journal Articles

A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom

Jihui Li, Zhenyuan Yu, Zhiwei Zhu, Zichen Deng

J. Mechanisms Robotics. December 2023, 15(6): 061005.

Paper No: JMR-22-1108

DOI: https://doi.org/10.1115/1.4056252

Published Online: January 17, 2023

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Topics: Cables, Design, Engineering prototypes, Engines, Hinges, Kinematics, Linkages, Manipulators, Manufacturing, Motors

Journal Articles

Extensible Continuum Manipulator Toward In-situ Explosive Ordnance Disposal

Pengyuan Wang, Binchen Deng, Zongbo He, Yuqiang Liu, Zhiguang Xing, Jianwen Zhao

J. Mechanisms Robotics. October 2023, 15(5): 051013.

Paper No: JMR-22-1183

DOI: https://doi.org/10.1115/1.4056080

Published Online: December 5, 2022

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Topics: Explosives, Manipulators, Robots, Weapons

Journal Articles

A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper

Omer Faruk Argin, Ozan Kaya, Zeki Yagiz Bayraktaroglu, Seniz Ertugrul

J. Mechanisms Robotics. August 2023, 15(4): 041011.

Paper No: JMR-21-1553

DOI: https://doi.org/10.1115/1.4055570

Published Online: November 14, 2022

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Topics: Actuators, Grippers, Haptics, Manipulators

Journal Articles

Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator

Jianfeng Lin, Chenkun Qi, Feng Gao, Yi Yue, Yan Hu, Baochen Wei

J. Mechanisms Robotics. August 2023, 15(4): 041006.

Paper No: JMR-21-1508

DOI: https://doi.org/10.1115/1.4055165

Published Online: November 10, 2022

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Topics: Bending (Stress), Manipulators, Modeling

Journal Articles

Evaluation on Redundancy-Induced Rigidity Enhancement of a Parallel Manipulator

Han-liang Fang, Teng-fei Tang, Zhen He, Jun Zhang

J. Mechanisms Robotics. August 2023, 15(4): 041009.

Paper No: JMR-22-1085

DOI: https://doi.org/10.1115/1.4055253

Published Online: November 10, 2022

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Topics: Stiffness, Manipulators

Journal Articles

Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

Frederico Fernandes Afonso Silva, Juan José Quiroz-Omaña, Bruno Vilhena Adorno

J. Mechanisms Robotics. December 2022, 14(6): 061005.

Paper No: JMR-21-1398

DOI: https://doi.org/10.1115/1.4054320

Published Online: September 14, 2022

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Topics: Algebra, Algorithms, Manipulators, Robots, Robotics, Simulation, Dynamics (Mechanics)

Journal Articles

Position-Access Workspace of Slender Soft Manipulators

Walid Amehri, Gang Zheng, Alexandre Kruszewski

J. Mechanisms Robotics. December 2022, 14(6): 061001.

Paper No: JMR-21-1347

DOI: https://doi.org/10.1115/1.4054840

Published Online: September 12, 2022

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Topics: Manipulators, Tendons, End effectors

Journal Articles

Modeling of Flexible-Link Manipulators Under Uncertain Parameters Based on Stochastic Finite Element Method

Fabian A. Lara-Molina

J. Mechanisms Robotics. December 2022, 14(6): 061002.

Paper No: JMR-21-1647

DOI: https://doi.org/10.1115/1.4054995

Published Online: September 12, 2022

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Topics: Flexible manipulators, Manipulators, Modeling, Uncertainty, Finite element methods, Stiffness

Journal Articles

A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective

Shantanu Thakar, Srivatsan Srinivasan, Sarah Al-Hussaini, Prahar M. Bhatt, Pradeep Rajendran, Yeo Jung Yoon, Neel Dhanaraj, Rishi K. Malhan, Matthias Schmid, Venkat N. Krovi, Satyandra K. Gupta

J. Mechanisms Robotics. April 2023, 15(2): 020801.

Paper No: JMR-21-1444

DOI: https://doi.org/10.1115/1.4054611

Published Online: July 19, 2022

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Topics: Manipulators, Robots, Path planning, Decision making

Journal Articles

Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs

Xiao Li, Haibo Qu, Sheng Guo

J. Mechanisms Robotics. April 2023, 15(2): 021014.

Paper No: JMR-21-1753

DOI: https://doi.org/10.1115/1.4054767

Published Online: June 23, 2022

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Topics: Kinematics, Parallel mechanisms, Reactor protection systems, Load bearing capacity, Jacobian matrices, Manipulators, Design

Journal Articles

Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

Jun Wu, Jiahao Qiu, Hao Ye

J. Mechanisms Robotics. April 2023, 15(2): 021005.

Paper No: JMR-21-1729

DOI: https://doi.org/10.1115/1.4054618

Published Online: June 21, 2022

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Topics: Actuators, Manipulators, Optimization, Torque, Redundant manipulators, Dynamic models, Trajectories (Physics)

Journal Articles

A Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator

Sicong Liu, Jianhui Liu, Kehan Zou, Xiaocheng Wang, Zhonggui Fang, Juan Yi, Zheng Wang

J. Mechanisms Robotics. December 2022, 14(6): 060912.

Paper No: JMR-21-1722

DOI: https://doi.org/10.1115/1.4054731

Published Online: June 21, 2022

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Topics: Actuators, Design, Kinematics, Manipulators, Manufacturing, Robotics, Simulation, Rotation, Mechanical admittance, Elongation

Journal Articles

Three Degrees of Freedom-Based Master–Slave Uterine Manipulation Robot System for Laparoscopic Hysterectomy

Van Sy Nguyen, Bohyun Hwang, Sangmin Lee, Sooyoung Kim, Byungkyu Kim

J. Mechanisms Robotics. April 2023, 15(2): 021001.

Paper No: JMR-21-1385

DOI: https://doi.org/10.1115/1.4054608

Published Online: June 20, 2022

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Topics: Design, Manipulators, Robots, Simulation, Stress, Kinematics, Actuators, Cancer, Servomechanisms

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Supplemental Material

Manuscript

Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices

Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles

Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor

Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator

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 Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators

A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom

Extensible Continuum Manipulator Toward In-situ Explosive Ordnance Disposal

A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper

Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator

Evaluation on Redundancy-Induced Rigidity Enhancement of a Parallel Manipulator

Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

Position-Access Workspace of Slender Soft Manipulators

Modeling of Flexible-Link Manipulators Under Uncertain Parameters Based on Stochastic Finite Element Method

A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective

Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs

Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

A Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator

Three Degrees of Freedom-Based Master–Slave Uterine Manipulation Robot System for Laparoscopic Hysterectomy

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