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Journal Articles

A Unified Real-time Motion Generation Algorithm for Approximate Position Analysis of Planar N-Bar Mechanisms

Accepted Manuscript
Zhijie Lyu, Anurag Purwar, Wei Liao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des.
Paper No: MD-23-1455
https://doi.org/10.1115/1.4064132
Published Online: November 23, 2023
View Article titled, A Unified Real-time Motion Generation Algorithm for Approximate Position Analysis of Planar N-Bar Mechanisms
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Topics: Algorithms, Kinematics, Linkages, Simulation, Actuators, Computer programming, Degrees of freedom, Optimization
Journal Articles

Design Synthesis of a 4D-Printed Self-Tying Knot with Programmable Morphology

Accepted Manuscript
Anurag Bhattacharyya, Jinyoung Kim, Lee R Alacoque, Kai James
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des.
Paper No: MD-23-1418
https://doi.org/10.1115/1.4063970
Published Online: November 2, 2023
View Article titled, Design Synthesis of a 4D-Printed Self-Tying Knot with Programmable Morphology
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Topics: 4d printing, Design, Smart materials, Additive manufacturing, Deflection, Kinematics, Actuators, Algorithms, Computer-aided engineering, Damage
Journal Articles

Development and Dynamic State Estimation for Robotic Knee–Ankle Orthosis With Shape Memory Alloy Actuators

Zhi Sun, Yuan Li, Bin Zi, Bing Chen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2024, 146(1): 013302.
Paper No: MD-23-1300
https://doi.org/10.1115/1.4063565
Published Online: October 20, 2023
View Article titled, Development and Dynamic State Estimation for Robotic Knee–Ankle Orthosis With Shape Memory Alloy Actuators
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Topics: Actuators, Knee, Orthotics, Torque, Robotics, Shape memory alloys, Rotation, Errors
Journal Articles

Design, Modeling, and Evaluation of a Hybrid Driven Knee-Ankle Orthosis With Shape Memory Alloy Actuators

Zhi Sun, Yuan Li, Bin Zi, Bing Chen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2023, 145(6): 063301.
Paper No: MD-22-1595
https://doi.org/10.1115/1.4056692
Published Online: February 10, 2023
View Article titled, Design, Modeling, and Evaluation of a Hybrid Driven Knee-Ankle Orthosis With Shape Memory Alloy Actuators
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Topics: Actuators, Knee, Shape memory alloys, Springs, Orthotics
Journal Articles

Gravity Balancing of a Two-Degree-of-Freedom Parallel Robotic Platform With Variable Payloads

Vu Linh Nguyen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. February 2023, 145(2): 024501.
Paper No: MD-22-1394
https://doi.org/10.1115/1.4056258
Published Online: December 13, 2022
View Article titled, Gravity Balancing of a Two-Degree-of-Freedom Parallel Robotic Platform With Variable Payloads
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Topics: Design, Gravity (Force), Robotics, Springs, Torque, Gears, Actuators
Journal Articles

Design of a Compact Gear-Spring Mechanism for Static Balancing of Variable Payloads

Vu Linh Nguyen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2022, 144(12): 123301.
Paper No: MD-22-1245
https://doi.org/10.1115/1.4055121
Published Online: August 26, 2022
View Article titled, Design of a Compact Gear-Spring Mechanism for Static Balancing of Variable Payloads
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Topics: Design, Gears, Springs, Torque, Actuators
Journal Articles

A Synergy-Based Approach for the Design of a Lower-Limb, Cable-Driven Exosuit

Daniel Rodriguez Jorge, Javier Bermejo-Garcìa, Ashwin Jayakumar, Francisco Romero-Sánchez, Francisco Javier Alonso
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2022, 144(10): 103302.
Paper No: MD-21-1746
https://doi.org/10.1115/1.4054768
Published Online: June 30, 2022
View Article titled, A Synergy-Based Approach for the Design of a Lower-Limb, Cable-Driven Exosuit
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Topics: Actuators, Cables, Design, Pulleys
Journal Articles

Co-Design of the Morphology and Actuation of Soft Robots for Locomotion

Merel van Diepen, Kristina Shea
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2022, 144(8): 083305.
Paper No: MD-22-1152
https://doi.org/10.1115/1.4054522
Published Online: June 13, 2022
View Article titled, Co-Design of the Morphology and Actuation of Soft Robots for Locomotion
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Topics: Design, Optimization, Robots, Actuators
Journal Articles

A Novel Design of Torsion Spring-Connected Nonlinear Stiffness Actuator Based on Cam Mechanism

Xiangxu Qu, Dongxing Cao, Ruheng Qu, Guyu Zhang, Shan Zhang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2022, 144(8): 083303.
Paper No: MD-21-1349
https://doi.org/10.1115/1.4054116
Published Online: April 22, 2022
View Article titled, A Novel Design of Torsion Spring-Connected Nonlinear Stiffness Actuator Based on Cam Mechanism
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Topics: Design, Springs, Stiffness, Torque, Torsion, Actuators, Deflection
Journal Articles

A Compact Mirror-Symmetrical XY Compliant Parallel Manipulator for Minimizing Parasitic Rotations

Jiaxiang Zhu, Guangbo Hao, Shiyao Li, Xianwen Kong
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2022, 144(7): 073303.
Paper No: MD-21-1583
https://doi.org/10.1115/1.4053818
Published Online: March 24, 2022
View Article titled, A Compact Mirror-Symmetrical XY Compliant Parallel Manipulator for Minimizing Parasitic Rotations
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Topics: Design, Errors, Finite element analysis, Manipulators, Mirrors, Rotation, Stiffness, Displacement, Actuators, Stress
Journal Articles

An Articulated Robotic Forceps Design With a Parallel Wrist-Gripper Mechanism and Parasitic Motion Compensation

Merve Bazman, Nural Yilmaz, Ugur Tumerdem
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2022, 144(6): 063303.
Paper No: MD-21-1224
https://doi.org/10.1115/1.4053465
Published Online: February 15, 2022
View Article titled, An Articulated Robotic Forceps Design With a Parallel Wrist-Gripper Mechanism and Parasitic Motion Compensation
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Topics: Actuators, Design, Grippers, Kinematics, Robotics, Simulation, Thrust, Yaw, Motion compensation, End effectors
Journal Articles

Design of a Tensegrity Servo-Actuated Structure for Civil Applications

Cecilia Scoccia, Luca Carbonari, Giacomo Palmieri, Massimo Callegari, Marco Rossi, Placido Munafó, Francesco Marchione, Gianluca Chiappini
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2022, 144(4): 043302.
Paper No: MD-21-1355
https://doi.org/10.1115/1.4053283
Published Online: January 17, 2022
View Article titled, Design of a Tensegrity Servo-Actuated Structure for Civil Applications
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Topics: Cables, Deformation, Glass, Metals, Servomechanisms, Stress, Tensegrity, Tensegrity structures, Design, Mechatronic devices
Journal Articles

Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity

Tun Wang, Enea Olivoni, Emmanouil Spyrakos-Papastavridis, Rory J. O'Connor, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2022, 144(5): 053301.
Paper No: MD-21-1205
https://doi.org/10.1115/1.4052842
Published Online: December 6, 2021
View Article titled, Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity
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Topics: Exoskeleton devices, Rotation, Design, Actuators, Kinematics
Journal Articles

Corrugated Diaphragm Actuator for Soft Robotic Applications

Veysel Erel, Alexandra R. Lindsay, Inderjeet Singh, Muthu B. J. Wijesundara
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. April 2022, 144(4): 045001.
Paper No: MD-21-1571
https://doi.org/10.1115/1.4052625
Published Online: November 11, 2021
View Article titled, Corrugated Diaphragm Actuator for Soft Robotic Applications
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Topics: Actuators, Displacement
Journal Articles

Double-Helix Linear Actuators

Andrew P. Sabelhaus, Kyle Zampaglione, Ellande Tang, Lee-Huang Chen, Adrian K. Agogino, Alice M. Agogino
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2021, 143(10): 103301.
Paper No: MD-20-1546
https://doi.org/10.1115/1.4050739
Published Online: May 19, 2021
View Article titled, Double-Helix Linear Actuators
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Topics: Actuators, Engineering prototypes, Rails, Design
Journal Articles

Fault-Tolerant Control of Programmable Logic Controller-Based Production Systems With Deep Reinforcement Learning

Jonas Zinn, Birgit Vogel-Heuser, Marius Gruber
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2021, 143(7): 072004.
Paper No: MD-20-1650
https://doi.org/10.1115/1.4050624
Published Online: April 8, 2021
View Article titled, Fault-Tolerant Control of Programmable Logic Controller-Based Production Systems With Deep Reinforcement Learning
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Topics: Actuators, Algorithms, Cranes, Manufacturing systems, Reinforcement learning, Simulation, Space, Control equipment, Sensors, Multi-agent systems
Journal Articles

A Symmetric Multichamber Hydraulic Cylinder With Variable Piston Area: An Approach to Compact and Efficient Electrohydrostatic Actuation

Harrison L. Bartlett
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2021, 143(8): 083501.
Paper No: MD-20-1690
https://doi.org/10.1115/1.4049339
Published Online: February 11, 2021
View Article titled, A Symmetric Multichamber Hydraulic Cylinder With Variable Piston Area: An Approach to Compact and Efficient Electrohydrostatic Actuation
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Topics: Cylinders, Pistons, Engines, Motors, Design, Actuators
Journal Articles

Embedded Actuation for Shape-Adaptive Origami

Steven W. Grey, Fabrizio Scarpa, Mark Schenk
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2021, 143(8): 081703.
Paper No: MD-20-1560
https://doi.org/10.1115/1.4049880
Published Online: February 8, 2021
View Article titled, Embedded Actuation for Shape-Adaptive Origami
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Topics: Actuators, Design, Shapes, Rotation, Geometry, Optimization, Deformation
Journal Articles

An Optimal Architectural Design for Unconventional Modular Reconfigurable Manipulation System

Anubhav Dogra, Srikant Sekhar Padhee, Ekta Singla
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2021, 143(6): 063303.
Paper No: MD-20-1487
https://doi.org/10.1115/1.4048821
Published Online: November 20, 2020
View Article titled, An Optimal Architectural Design for Unconventional Modular Reconfigurable Manipulation System
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Topics: Actuators, Design, Manipulators, Optimization, Torque, Weight (Mass), Robotics, Manufacturing
Journal Articles

Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots

Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2019, 141(9): 092305.
Paper No: MD-18-1547
https://doi.org/10.1115/1.4043932
Published Online: July 19, 2019
View Article titled, Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots
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Topics: Actuators, Failure, Jacobian matrices, Robots, Robotics, Cables, End effectors, Grasping, Optimization