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Volume 10, Issue 3

June 2018

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ISSN 1942-4302

EISSN 1942-4310

In this Issue

Research Papers
Technical Brief
Design Innovation Paper

Research Papers

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

Abstract

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

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

Branch Reconfiguration of Bricard Linkages Based on Toroids Intersections: Plane-Symmetric Case

P. C. López-Custodio, J. S. Dai, J. M. Rico

J. Mechanisms Robotics. June 2018, 10(3): 031002. doi: https://doi.org/10.1115/1.4039002

Abstract

View articletitled, Branch Reconfiguration of Bricard Linkages Based on Toroids Intersections: Plane-Symmetric Case

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Topics: Linkages

Branch Reconfiguration of Bricard Linkages Based on Toroids Intersections: Line-Symmetric Case

P. C. López-Custodio, J. S. Dai, J. M. Rico

J. Mechanisms Robotics. June 2018, 10(3): 031003. doi: https://doi.org/10.1115/1.4038981

Abstract

View articletitled, Branch Reconfiguration of Bricard Linkages Based on Toroids Intersections: Line-Symmetric Case

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Topics: Linkages

Dynamically Feasible Periodic Trajectories for Generic Spatial Three-Degree-of-Freedom Cable-Suspended Parallel Robots

Giovanni Mottola, Clément Gosselin, Marco Carricato

J. Mechanisms Robotics. June 2018, 10(3): 031004. doi: https://doi.org/10.1115/1.4039499

Abstract

View articletitled, Dynamically Feasible Periodic Trajectories for Generic Spatial Three-Degree-of-Freedom Cable-Suspended Parallel Robots

Supplementary data

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Topics: Cables , Robots , Trajectories (Physics)

Design of a Compliant Gripper With Multimode Jaws

Guangbo Hao, Haiyang Li, Abhilash Nayak, Stephane Caro

J. Mechanisms Robotics. June 2018, 10(3): 031005. doi: https://doi.org/10.1115/1.4039498

Abstract

View articletitled, Design of a Compliant Gripper With Multimode Jaws

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Topics: Design , Grippers

Deterministic Design for a Compliant Parallel Universal Joint With Constant Rotational Stiffness

Yan Xie, Jingjun Yu, Hongzhe Zhao

J. Mechanisms Robotics. June 2018, 10(3): 031006. doi: https://doi.org/10.1115/1.4039065

Abstract

View articletitled, Deterministic Design for a Compliant Parallel Universal Joint With Constant Rotational Stiffness

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Topics: Bending (Stress) , Design , Rotation , Stiffness , Stress , Universal joints , Blades

Design and Preliminary Field Validation of a Fully Passive Prosthetic Knee Mechanism for Users With Transfemoral Amputation in India

V. N. Murthy Arelekatti, Amos G. Winter, V

J. Mechanisms Robotics. June 2018, 10(3): 031007. doi: https://doi.org/10.1115/1.4039222

Abstract

View articletitled, Design and Preliminary Field Validation of a Fully Passive Prosthetic Knee Mechanism for Users With Transfemoral Amputation in India

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Topics: Artificial limbs , Design , Kinematics , Knee , Prostheses , Engineering prototypes , Biomechanics , Developing nations , Stability

Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds

Yevgeniy Yesilevskiy, Zhenyu Gan, C. David Remy

J. Mechanisms Robotics. June 2018, 10(3): 031008. doi: https://doi.org/10.1115/1.4039496

Abstract

View articletitled, Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds

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Topics: Actuators , Engines , Friction , Mechanical drives , Motors , Seas , Springs , Optimization , Robots , Damping

Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis

J. Mechanisms Robotics. June 2018, 10(3): 031009. doi: https://doi.org/10.1115/1.4039394

Abstract

View articletitled, Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot

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Topics: Control equipment , Stability , Feedback , Gravity (Force) , Robots , Trajectories (Physics)

Task-Constrained Optimal Motion Planning of Redundant Robots Via Sequential Expanded Lagrangian Homotopy

Audelia G. Dharmawan, Shaohui Foong, Gim Song Soh

J. Mechanisms Robotics. June 2018, 10(3): 031010. doi: https://doi.org/10.1115/1.4039395

Abstract

View articletitled, Task-Constrained Optimal Motion Planning of Redundant Robots Via Sequential Expanded Lagrangian Homotopy

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Topics: Path planning , Robots , Kinematics

Surgical Robot With Variable Remote Center of Motion Mechanism Using Flexible Structure

Sho Yoshida, Takahiro Kanno, Kenji Kawashima

J. Mechanisms Robotics. June 2018, 10(3): 031011. doi: https://doi.org/10.1115/1.4039396

Abstract

View articletitled, Surgical Robot With Variable Remote Center of Motion Mechanism Using Flexible Structure

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Topics: Control equipment , Control systems , Flexible structures , Robotics , Robots , Rotation , Surgery , Pneumatic cylinders , Design , Rods

A General Approach to the Large Deflection Problems of Spatial Flexible Rods Using Principal Axes Decomposition of Compliance Matrices

Genliang Chen, Zhuang Zhang, Hao Wang

J. Mechanisms Robotics. June 2018, 10(3): 031012. doi: https://doi.org/10.1115/1.4039223

Abstract

View articletitled, A General Approach to the Large Deflection Problems of Spatial Flexible Rods Using Principal Axes Decomposition of Compliance Matrices

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Topics: Deflection , Equilibrium (Physics) , Rods , Stiffness , Compliant mechanisms , Stress , Approximation , Modeling

A Double-Faced 6R Single-Loop Overconstrained Spatial Mechanism

Xianwen Kong, Xiuyun He, Duanling Li

J. Mechanisms Robotics. June 2018, 10(3): 031013. doi: https://doi.org/10.1115/1.4039224

Abstract

View articletitled, A Double-Faced 6R Single-Loop Overconstrained Spatial Mechanism

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Topics: Circuits , Construction , Kinematic analysis , Linkages , Design

Optimal Stiffness Design for an Exhaustive Parallel Compliance Matrix in Multiactuator Robotic Limbs

Nathan M. Cahill, Thomas Sugar, Yi Ren, Kyle Schroeder

J. Mechanisms Robotics. June 2018, 10(3): 031014. doi: https://doi.org/10.1115/1.4039772

Abstract

View articletitled, Optimal Stiffness Design for an Exhaustive Parallel Compliance Matrix in Multiactuator Robotic Limbs

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Topics: Design , Motors , Robotics , Robots , Springs , Stiffness , Trajectories (Physics) , Actuators , Optimization

Technical Brief

Identification of Canonical Basis of Screw Systems Using General-Special Decomposition

Genliang Chen, Hao Wang, Zhongqin Lin, Xinmin Lai

J. Mechanisms Robotics. June 2018, 10(3): 034501. doi: https://doi.org/10.1115/1.4039218

Abstract

View articletitled, Identification of Canonical Basis of Screw Systems Using General-Special Decomposition

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Topics: Screws

A Novel Synthesis Method for Nonperiodic Function Generation of an RCCC Mechanism

Wenrui Liu, Jianwei Sun, Bangcheng Zhang, Jinkui Chu

J. Mechanisms Robotics. June 2018, 10(3): 034502. doi: https://doi.org/10.1115/1.4039497

Abstract

View articletitled, A Novel Synthesis Method for Nonperiodic Function Generation of an RCCC Mechanism

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Topics: Design , Displacement , Linkages , Wavelets , Databases

Design Innovation Paper

Kinematics, Workspace, and Singularity Analysis of a Parallel Robot With Five Operation Modes

Damien Chablat, Xianwen Kong, Chengwei Zhang

J. Mechanisms Robotics. June 2018, 10(3): 035001. doi: https://doi.org/10.1115/1.4039400

Abstract

View articletitled, Kinematics, Workspace, and Singularity Analysis of a Parallel Robot With Five Operation Modes

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Topics: Kinematics , Robots

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Research Papers

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

Branch Reconfiguration of Bricard Linkages Based on Toroids Intersections: Plane-Symmetric Case

Branch Reconfiguration of Bricard Linkages Based on Toroids Intersections: Line-Symmetric Case

Dynamically Feasible Periodic Trajectories for Generic Spatial Three-Degree-of-Freedom Cable-Suspended Parallel Robots

Design of a Compliant Gripper With Multimode Jaws

Deterministic Design for a Compliant Parallel Universal Joint With Constant Rotational Stiffness

Design and Preliminary Field Validation of a Fully Passive Prosthetic Knee Mechanism for Users With Transfemoral Amputation in India

Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds

Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot

Task-Constrained Optimal Motion Planning of Redundant Robots Via Sequential Expanded Lagrangian Homotopy

Surgical Robot With Variable Remote Center of Motion Mechanism Using Flexible Structure

A General Approach to the Large Deflection Problems of Spatial Flexible Rods Using Principal Axes Decomposition of Compliance Matrices

A Double-Faced 6R Single-Loop Overconstrained Spatial Mechanism

Optimal Stiffness Design for an Exhaustive Parallel Compliance Matrix in Multiactuator Robotic Limbs

Technical Brief

Identification of Canonical Basis of Screw Systems Using General-Special Decomposition

A Novel Synthesis Method for Nonperiodic Function Generation of an RCCC Mechanism

Design Innovation Paper

Kinematics, Workspace, and Singularity Analysis of a Parallel Robot With Five Operation Modes

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