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Journal Articles

Motion Performance Study of 2UPR-1RPS/2R Hybrid Robot Based on Kinematics, Dynamics, and Stiffness Modeling

Jing Li, NingHe Lu, NanYan Shen, ZeHui Ma, ZiQi Zhao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
Publisher: ASME
J. Mechanisms Robotics. June 2024, 16(6): 061009.
Paper No: JMR-23-1232
https://doi.org/10.1115/1.4063169
Published Online: October 4, 2023
View Article titled, Motion Performance Study of 2UPR-1RPS/2R Hybrid Robot Based on Kinematics, Dynamics, and Stiffness Modeling
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Topics: Dynamics (Mechanics), Kinematics, Robots, Stiffness, Modeling, Algorithms
Journal Articles

A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots

Federico Zaccaria, Edoardo Idá, Sébastien Briot
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041010.
Paper No: JMR-22-1473
https://doi.org/10.1115/1.4062585
Published Online: June 9, 2023
View Article titled, A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots
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Topics: Algorithms, Computation, Robots
Journal Articles

Design of Position Estimator for Rope Driven Micromanipulator of Surgical Robot Based on Parameter Autonomous Selection Model

Wenjie Wang, Jie Wang, Congcong Chen, Yang Luo, Xiaohua Wang, Lingtao Yu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041005.
Paper No: JMR-22-1292
https://doi.org/10.1115/1.4062464
Published Online: June 5, 2023
View Article titled, Design of Position Estimator for Rope Driven Micromanipulator of Surgical Robot Based on Parameter Autonomous Selection Model
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Topics: Design, Errors, Robots, Ropes, Surgery, Algorithms, Engineering prototypes, Robustness, Position control
Journal Articles

Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments

Chenhao Lu, Yao Chen, Jiayi Yan, Jian Feng, Pooya Sareh
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031001.
Paper No: JMR-22-1316
https://doi.org/10.1115/1.4056870
Published Online: March 8, 2023
View Article titled, Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments
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Topics: Algorithms, Design, Kinematics, Stiffness, Displacement, Deformation, Structural analysis
Journal Articles

Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo

Hadi Yadavari, Vahid Tavakol Aghaei, Serhat İkizoğlu
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035001.
Paper No: JMR-22-1256
https://doi.org/10.1115/1.4056971
Published Online: March 3, 2023
View Article titled, Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo
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Topics: Algorithms, Control equipment, Kinematics, Reinforcement learning, Robots, Simulation
Journal Articles

Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism

Fanyi Guo, Zhili Sun, Shengnan Zhang, Runan Cao, Haiyang Li
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061007.
Paper No: JMR-22-1417
https://doi.org/10.1115/1.4056376
Published Online: January 17, 2023
View Article titled, Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism
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Topics: Damping, Stiffness, Displacement, Event history analysis, Excitation, Optimization, Failure, Probability, Reliability, Frequency response
Journal Articles

Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm

Lei Wang, Liang Sun, Gaohong Yu, Yuzhu Zhou
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041002.
Paper No: JMR-21-1404
https://doi.org/10.1115/1.4055058
Published Online: November 10, 2022
View Article titled, Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm
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Topics: Design, Gears, Optimization, Planetary gears, Trains, Algorithms, Errors, Rotation
Journal Articles

Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

Frederico Fernandes Afonso Silva, Juan José Quiroz-Omaña, Bruno Vilhena Adorno
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061005.
Paper No: JMR-21-1398
https://doi.org/10.1115/1.4054320
Published Online: September 14, 2022
View Article titled, Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
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Topics: Algebra, Algorithms, Manipulators, Robots, Robotics, Simulation, Dynamics (Mechanics)
Journal Articles

Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback

Yongfeng Cao, Fan Feng, Zefeng Liu, Le Xie
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061004.
Paper No: JMR-22-1068
https://doi.org/10.1115/1.4054997
Published Online: September 12, 2022
View Article titled, Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback
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Topics: Diffraction gratings, Robots, Sensors, Shapes, Tracking control, Trajectories (Physics), Algorithms, Cables, Feedback
Journal Articles

Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains

T. H. Fass, Guangbo Hao, Pádraig Cantillon-Murphy
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060911.
Paper No: JMR-21-1674
https://doi.org/10.1115/1.4054311
Published Online: June 6, 2022
View Article titled, Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains
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Topics: Chain, Dynamics (Mechanics), Computation, Algorithms
Journal Articles

Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots With Elastic Cables: A Neural Network Approach

Utkarsh A. Mishra, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041008.
Paper No: JMR-21-1542
https://doi.org/10.1115/1.4054407
Published Online: May 26, 2022
View Article titled, Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots With Elastic Cables: A Neural Network Approach
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Topics: Artificial neural networks, Cables, Kinematics, Algorithms, Robots
Journal Articles

Neural Network-Based Pose Estimation Approaches for Mobile Manipulation

Arindam B. Chowdhury, Juncheng Li, David J. Cappelleri
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011009.
Paper No: JMR-21-1576
https://doi.org/10.1115/1.4053927
Published Online: April 29, 2022
View Article titled, Neural Network-Based Pose Estimation Approaches for Mobile Manipulation
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Topics: Algorithms, Robots, Artificial neural networks
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
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051005.
Paper No: JMR-21-1252
https://doi.org/10.1115/1.4053375
Published Online: February 18, 2022
View Article titled, A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance
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Topics: Kinematics, Manipulators, Algorithms, Manifolds
Journal Articles

Algorithmic Selection of Preferred Grasp Poses Using Manipulability Ellipsoid Forms

Rajesh Kumar, Sudipto Mukherjee
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051006.
Paper No: JMR-21-1173
https://doi.org/10.1115/1.4053374
Published Online: February 18, 2022
View Article titled, Algorithmic Selection of Preferred Grasp Poses Using Manipulability Ellipsoid Forms
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Topics: Algorithms, Kinematics, Robotics, Rotation, Eigenvalues, End effectors, Grasping
Journal Articles

Measurement Configuration Optimization and Kinematic Calibration of a Parallel Robot

Chenhui Huang, Fugui Xie, Xin-Jun Liu, Qizhi Meng
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031017.
Paper No: JMR-21-1091
https://doi.org/10.1115/1.4053012
Published Online: December 10, 2021
View Article titled, Measurement Configuration Optimization and Kinematic Calibration of a Parallel Robot
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Topics: Algorithms, Calibration, Errors, Kinematics, Optimization, Robots
Journal Articles

Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects

Rajesh Kumar, Sudipto Mukherjee
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021005.
Paper No: JMR-21-1189
https://doi.org/10.1115/1.4052323
Published Online: September 21, 2021
View Article titled, Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects
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Topics: Algorithms, End effectors, Friction, Grasping, Robotics, Rotation, Simulation, Kinematics, Robots, Fixturing
Journal Articles

Human-Like Posture Correction for Seven-Degree-of-Freedom Robotic Arm

Yu-Heng Deng, Jen-Yuan (James) Chang
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2022, 14(2): 024501.
Paper No: JMR-20-1612
https://doi.org/10.1115/1.4051842
Published Online: September 20, 2021
View Article titled, Human-Like Posture Correction for Seven-Degree-of-Freedom Robotic Arm
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Topics: Algorithms, Regression models, Robotics, Errors, Design, Kinematics, Support vector machines
Journal Articles

Algorithmic Selection of Sliding–Sticking Contacts in Robotic In-hand Manipulation

Rajesh Kumar, Sudipto Mukherjee
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2022, 14(2): 024502.
Paper No: JMR-21-1231
https://doi.org/10.1115/1.4052337
Published Online: September 20, 2021
View Article titled, Algorithmic Selection of Sliding–Sticking Contacts in Robotic In-hand Manipulation
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Topics: Kinematics, Robotics, Joining, Rotation, Algorithms, Simulation
Journal Articles

Autonomous Docking of Hybrid-Wheeled Modular Robots With an Integrated Active Genderless Docking Mechanism

Shubhdildeep Singh Sohal, Bijo Sebastian, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011010.
Paper No: JMR-20-1635
https://doi.org/10.1115/1.4051519
Published Online: July 13, 2021
View Article titled, Autonomous Docking of Hybrid-Wheeled Modular Robots With an Integrated Active Genderless Docking Mechanism
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Topics: Algorithms, Robots
Journal Articles

Symbolic Differentiation Algorithm for Inverse Dynamics of Serial Robots With Flexible Joints

Thanh-Trung Do, Viet-Hung Vu, Zhaoheng Liu
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2021, 13(6): 064501.
Paper No: JMR-20-1162
https://doi.org/10.1115/1.4051355
Published Online: July 5, 2021
View Article titled, Symbolic Differentiation Algorithm for Inverse Dynamics of Serial Robots With Flexible Joints
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Topics: Algorithms, Dynamics (Mechanics), Kinematics, Robots