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Keywords: kinematics
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Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054503.
Paper No: JMR-22-1188
Published Online: November 25, 2022
...Yuan Gao; Fufu Yang; Jun Zhang In this paper, a new reconfigurable 6R linkage is obtained by combining two identical equilateral Bennett linkages arranged in a plane-symmetric manner, and a detailed kinematic analysis is conducted which shows that there are six distinct motion modes and three...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041008.
Paper No: JMR-22-1072
Published Online: November 10, 2022
... by the intermediate metamorphic limb and locking device enhance the dexterity of the metamorphic parallel mechanism. The configurations of the 3-RPS/(H) metamorphic parallel mechanism are analyzed and their degrees-of-freedom are obtained. Additionally, an inverse kinematic analysis of the mechanism is performed...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041008.
Paper No: JMR-21-1542
Published Online: May 26, 2022
...Utkarsh A. Mishra; Stéphane Caro Kinematic analysis of under-constrained cable-driven parallel robots (CDPR) has been a topic of interest because of the inherent coupling between the loop-closure and static equilibrium equations. The non-linearity of the problem is magnified with the addition...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011007.
Paper No: JMR-21-1666
Published Online: April 25, 2022
... manufacturing lines. However, due to the multi-closed loop between azimuth pitch rotations and hybrid module, the workspace is coupled, so that the mechanism has problems in building the forward and inverse position, kinematics, and dynamics analytical models, numerical solution calculation speed, and multi...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2022, 14(6): 060903.
Paper No: JMR-21-1759
Published Online: April 21, 2022
..., modeling, and inverse kinematics (IK) are challenging due to their special structures and redundant degrees-of-freedom. In this paper, a modular cable-driven manipulator (CDM) is designed. A lightweight and expandable structure is proposed to reduce weight of the whole manipulator and improve its...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060902.
Paper No: JMR-21-1670
Published Online: April 21, 2022
...Chong Zhao; Ke Wang; Haifeng Zhao; Hongwei Guo; Rongqiang Liu The kinematics and dynamics of n(3RRlS) reconfigurable series–parallel manipulators (RSPMs) are the theoretical foundations for capturing noncooperative targets in space. In this study, a unified kinematic and dynamic modeling method...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051009.
Paper No: JMR-21-1560
Published Online: February 21, 2022
...Vinh Nguyen; Jeremy A. Marvel Industrial robots are highly desirable in applications including manufacturing and surgery. However, errors in the modeling of the kinematics of robotic arms limit their positional accuracy in industrial applications. Specifically, analytical kinematic models...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021002.
Paper No: JMR-21-1190
Published Online: September 20, 2021
... tensegrity mechanism stiffness analysis robot buckling compliant mechanisms mechanism synthesis parallel platforms kinematics Compliant manipulators are used nowadays in many fields since their flexibility, modularized construction, and low weight. Many new mechanical structures were studied...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2022, 14(2): 024504.
Paper No: JMR-20-1626
Published Online: September 20, 2021
.... t 1 and t 2 are variable in the optimization. The total time of motion is t 1 + t 2 , which is determined by the motion frequency and the value is 0.15 s in this case. cable-driven parallel robot parallel mechanism kinematics dynamics trajectory planning National...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061007.
Paper No: JMR-20-1563
Published Online: June 3, 2021
... of kinematic chains (limbs). Each limb usually contains only one actuated joint that is located on or near the base thus reducing the mobile masses to get a fast manipulator. The multiple connections between platform and base make PMs stiffer and more accurate than their serial counterparts, but suffers from...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011012.
Paper No: JMR-19-1520
Published Online: October 7, 2020
... node modules only have translational motions, which can significantly reduce the complexity of kinematics. The forward and inverse kinematics are conducted to show the deformation properties. Based on the kinematic rolling principle, the morphing strategies for rolling and turning functions...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011001.
Paper No: JMR-20-1071
Published Online: August 6, 2020
... of the reference anatomy is concerned in the first optimization stage. Two different kinematic manipulability measures are utilized to form the objective function of the genetic algorithm (GA) used. Determination of the optimal anatomy for each task execution is concerned in the second stage. All feasible...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051012.
Paper No: JMR-20-1013
Published Online: May 11, 2020
.... First, these PPMs are denoted by a set of independent loops using a topological structural analysis of the kinematic chains and structural decomposition. Then, the relationship between the mobility factor and the loop factor in the same independent loop is utilized to obtain the folded or stretched...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011001.
Paper No: JMR-19-1100
Published Online: October 9, 2019
...Chuanyang Li; Hongwei Guo; Dewei Tang; Huiyin Yan; Rongqiang Liu; Zongquan Deng Space manipulation has great prospects in aerospace applications. In this work, a multiloop robot, namely 3-R(SRS)RP multiloop mechanism, is presented. Its design, kinematics, singularity, and workspace are studied...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2019, 11(6): 064501.
Paper No: JMR-19-1012
Published Online: September 25, 2019
...Chunsong Zhang; Chi Zhang; Jian S. Dai; Peng Qi To date, most quadruped robots are either equipped with trunks that are rigid bodies or consist of blocks connected by passive joints. The kinematic performance of these quadruped robots is only determined by their legs. To release the mobility...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061002.
Paper No: JMR-15-1334
Published Online: June 10, 2016
...Yuanxi Sun; Wenjie Ge; Jia Zheng; Dianbiao Dong This paper presents a systematic solution of the kinematics of the planar mechanism from the aspect of Assur groups. When the planar mechanism is decomposed into Assur groups, the detailed calculating order of Assur groups is unknown. To solve...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041010.
Paper No: JMR-14-1052
Published Online: November 1, 2015
... with the simulation results of the moving platform, the two forward acceleration solutions are identity. So it is verified that the FEM can accurately solve the forward acceleration. In this paper, the FEM for kinematics solution of PMs is presented and this approach is used to analyze the kinematics...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2014, 6(3): 031002.
Paper No: JMR-13-1057
Published Online: April 3, 2014
... [10] Husty , M. L. , and Karger , A. , 1996 , “ On Self-Motions of a Class of Parallel Manipulators ,” Advances in Robot Kinematics , J. Lenarcic and V. Parenti-Castelli , eds., Kluwer Academic Publishers , Dordrecht, Netherlands, pp. 339 – 348 . [11] Husty , M. L...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2012, 4(4): 041011.
Published Online: September 17, 2012
...Chao Chen; Thibault Gayral; Stéphane Caro; Damien Chablat; Guillaume Moroz; Sajeeva Abeywardena A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2012, 4(4): 041003.
Published Online: August 10, 2012
... with at most one inverse kinematics solution, as is the case for the 3-R P ¯ R, we will actually project them onto the input-space instead. Cusp point κ as a triple root of the FKP and non-singular path linking upper and lower solutions of the FKP Let us revise the two main...