Volume 5 Issue 4 | J. Mechanisms Robotics

Research Papers

Reconfiguration Manipulability Analyses for Redundant Robots

Tongxiao Zhang, Mamoru Minami, Osami Yasukura, Wei Song

J. Mechanisms Robotics. November 2013, 5(4): 041001. doi: https://doi.org/10.1115/1.4024727

View articletitled, Reconfiguration Manipulability Analyses for Redundant Robots

Topics: End effectors , Manipulators , Redundant manipulators , Shapes , Theorems (Mathematics) , Robots , Kinematics , Trajectories (Physics) , Dimensions

Reconfiguration Analysis of a Fully Reconfigurable Parallel Robot

Allan Daniel Finistauri, Fengfeng (Jeff) Xi

J. Mechanisms Robotics. November 2013, 5(4): 041002. doi: https://doi.org/10.1115/1.4024734

Abstract

View articletitled, Reconfiguration Analysis of a Fully Reconfigurable Parallel Robot

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Topics: Mechanical admittance , Robots , Kinematics

Design and Kinematical Performance Analysis of a 3-RUS/RRR Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation

Congzhe Wang, Yuefa Fang, Sheng Guo, Yaqiong Chen

J. Mechanisms Robotics. November 2013, 5(4): 041003. doi: https://doi.org/10.1115/1.4024736

Abstract

View articletitled, Design and Kinematical Performance Analysis of a 3-RUS/RRR Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation

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Topics: Actuators , Design , Kinematics , Parallel mechanisms , Stiffness , Redundancy (Engineering) , Robots , Manipulators , Jacobian matrices , Conceptual design

Synthesizing Parallel Flexures That Mimic the Kinematics of Serial Flexures Using Freedom and Constraint Topologies

Jonathan B. Hopkins

J. Mechanisms Robotics. November 2013, 5(4): 041004. doi: https://doi.org/10.1115/1.4024474

Abstract

View articletitled, Synthesizing Parallel Flexures That Mimic the Kinematics of Serial Flexures Using Freedom and Constraint Topologies

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Topics: Bending (Stress) , Kinematics , Space , Screws , Rotation , Design , Shapes

A Contact-Aided Compliant Displacement-Delimited Gripper Manipulator

Anupam Saxena

J. Mechanisms Robotics. November 2013, 5(4): 041005. doi: https://doi.org/10.1115/1.4024728

Abstract

View articletitled, A Contact-Aided Compliant Displacement-Delimited Gripper Manipulator

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Topics: Design , Displacement , Grippers , Deformation , Gates (Closures)

Automatic Structural Synthesis of the Whole Family of Planar 3-Degrees of Freedom Closed Loop Mechanisms

Huafeng Ding, Peng Huang, Jingfang Liu, Andrés Kecskeméthy

J. Mechanisms Robotics. November 2013, 5(4): 041006. doi: https://doi.org/10.1115/1.4024919

Abstract

View articletitled, Automatic Structural Synthesis of the Whole Family of Planar 3-Degrees of Freedom Closed Loop Mechanisms

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Topics: Creativity , Databases , Kinematics , Robots , Design

Autogenerating/Drawing Valid Arrays and Contracted Graphs With Pentagonal Links for Type Synthesis of Mechanism by Computer Aided Design

Yi Lu, Hui Huang, Yang Lu, Nijia Ye

J. Mechanisms Robotics. November 2013, 5(4): 041007. doi: https://doi.org/10.1115/1.4024920

Abstract

View articletitled, Autogenerating/Drawing Valid Arrays and Contracted Graphs With Pentagonal Links for Type Synthesis of Mechanism by Computer Aided Design

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Topics: Computer software , String , Computer-aided design , Flow (Dynamics)

Design and Testing of an Adjustable Linkage for a Variable Displacement Pump

Shawn R. Wilhelm, James D. Van de Ven

J. Mechanisms Robotics. November 2013, 5(4): 041008. doi: https://doi.org/10.1115/1.4025122

Abstract

View articletitled, Design and Testing of an Adjustable Linkage for a Variable Displacement Pump

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Topics: Displacement , Linkages , Pistons , Pumps

An Analytical Model for Calculating the Workspace of a Flexure Hexapod Nanopositioner

Hongliang Shi, Hai-Jun Su

J. Mechanisms Robotics. November 2013, 5(4): 041009. doi: https://doi.org/10.1115/1.4025041

Abstract

View articletitled, An Analytical Model for Calculating the Workspace of a Flexure Hexapod Nanopositioner

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Topics: Bending (Stress) , Deformation , Kinematics , Wire , Errors , Torsion , Finite element model , Struts (Engineering) , Degrees of freedom

A Computational Approach for Cam Size Optimization of Disc Cam-Follower Mechanisms With Translating Roller Followers

Paulo Flores

J. Mechanisms Robotics. November 2013, 5(4): 041010. doi: https://doi.org/10.1115/1.4025026

Abstract

View articletitled, A Computational Approach for Cam Size Optimization of Disc Cam-Follower Mechanisms With Translating Roller Followers

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Topics: Disks , Optimization , Pressure , Rollers , Design , Cams

Exact Constraint Design of a Two-Degree of Freedom Flexure-Based Mechanism

Dannis M. Brouwer, (Ger) K. G. P. Folkersma, Steven E. Boer, Ronald G. K. M. Aarts

J. Mechanisms Robotics. November 2013, 5(4): 041011. doi: https://doi.org/10.1115/1.4025175

Abstract

View articletitled, Exact Constraint Design of a Two-Degree of Freedom Flexure-Based Mechanism

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Topics: Actuators , Bending (Stress) , Design , End effectors , Hinges , Mechanical admittance , Stiffness , Stress , Kinematics , Vibration

Density-Convex Model Based Robust Optimization to Key Components of Surgical Robot

Shan Jiang, Xuesheng Gao, Jun Liu, Jun Yang, Yan Yu

J. Mechanisms Robotics. November 2013, 5(4): 041012. doi: https://doi.org/10.1115/1.4025174

Abstract

View articletitled, Density-Convex Model Based Robust Optimization to Key Components of Surgical Robot

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Topics: Density , Design , Optimization , Reliability , Robots , Surgery , Magnetic resonance imaging

Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems

Nick Eckenstein, Mark Yim

J. Mechanisms Robotics. November 2013, 5(4): 041013. doi: https://doi.org/10.1115/1.4025218

Abstract

View articletitled, Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems

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Topics: Gravity (Force) , Kinematics , Springs , Engineering prototypes , Robotics

Haptic Hand Exoskeleton for Precision Grasp Simulation

Marco Fontana, Salsedo Fabio, Simone Marcheschi, Massimo Bergamasco

J. Mechanisms Robotics. November 2013, 5(4): 041014. doi: https://doi.org/10.1115/1.4024981

Abstract

View articletitled, Haptic Hand Exoskeleton for Precision Grasp Simulation

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Topics: Cables , Design , Electronics , Engines , Exoskeleton devices , Force sensors , Haptics , Kinematics , Motors , Resolution (Optics)

Type Synthesis of 3-DOF Parallel Manipulators With Both a Planar Operation Mode and a Spatial Translational Operation Mode

Xianwen Kong

J. Mechanisms Robotics. November 2013, 5(4): 041015. doi: https://doi.org/10.1115/1.4025219

Abstract

View articletitled, Type Synthesis of 3-DOF Parallel Manipulators With Both a Planar Operation Mode and a Spatial Translational Operation Mode

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Topics: Kinematic chains , Manipulators , Chain

A Novel Deployable Hexahedron Mobile Mechanism Constructed by Only Prismatic Joints

Wan Ding, Yan-an Yao

J. Mechanisms Robotics. November 2013, 5(4): 041016. doi: https://doi.org/10.1115/1.4025410

Abstract

View articletitled, A Novel Deployable Hexahedron Mobile Mechanism Constructed by Only Prismatic Joints

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Topics: Actuators , Construction , Engineering prototypes , Simulation , Stability , Design , Pneumatic cylinders , Struts (Engineering) , Control systems , Displacement

Characterization and Modeling of Elastomeric Joints in Miniature Compliant Mechanisms

Dana E. Vogtmann, Satyandra K. Gupta, Sarah Bergbreiter

J. Mechanisms Robotics. November 2013, 5(4): 041017. doi: https://doi.org/10.1115/1.4025298

Abstract

View articletitled, Characterization and Modeling of Elastomeric Joints in Miniature Compliant Mechanisms

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Topics: Finite element analysis , Geometry , Hinges , Modeling , Springs , Tension , Compliant mechanisms , Stress , Design

Kinetostatics of S-(nS)PU-SPU and S-(nS)PU-2SPU Nonholonomic Parallel Wrists

Raffaele Di Gregorio

J. Mechanisms Robotics. November 2013, 5(4): 041018. doi: https://doi.org/10.1115/1.4025220

Abstract

View articletitled, Kinetostatics of S-(nS)PU-SPU and S-(nS)PU-2SPU Nonholonomic Parallel Wrists

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Topics: Kinematics , Rollers , Actuators , Manipulators , Stiction

Technical Briefs

A Kinematic Model for Parallel-Joint Coordinate Measuring Machine

Jie Li, Lian-Dong Yu, Jing-Qi Sun, Hao-Jie Xia

J. Mechanisms Robotics. November 2013, 5(4): 044501. doi: https://doi.org/10.1115/1.4025121

Abstract

View articletitled, A Kinematic Model for Parallel-Joint Coordinate Measuring Machine

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Topics: Coordinate measuring machines , Kinematics , Calibration , Newton's method , Errors

The Dimensional Synthesis of Spatial Cable-Driven Parallel Mechanisms

K. Azizian, P. Cardou

J. Mechanisms Robotics. November 2013, 5(4): 044502. doi: https://doi.org/10.1115/1.4025173

Abstract

View articletitled, The Dimensional Synthesis of Spatial Cable-Driven Parallel Mechanisms

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Topics: Cables , Parallel mechanisms

Design Innovation Papers

Design of a Novel Long-Range Inflatable Robotic Arm: Manufacturing and Numerical Evaluation of the Joints and Actuation

Sébastien Voisembert, Nazih Mechbal, Alain Riwan, Ameziane Aoussat

J. Mechanisms Robotics. November 2013, 5(4): 045001. doi: https://doi.org/10.1115/1.4025025

Abstract

View articletitled, Design of a Novel Long-Range Inflatable Robotic Arm: Manufacturing and Numerical Evaluation of the Joints and Actuation

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Topics: Design , Finite element analysis , Manufacturing , Simulation , Textiles , Wire , Robots , Engineering prototypes , Robotics , Friction

Research Papers

Reconfiguration Manipulability Analyses for Redundant Robots

Reconfiguration Analysis of a Fully Reconfigurable Parallel Robot

Design and Kinematical Performance Analysis of a 3-RUS/RRR Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation

Synthesizing Parallel Flexures That Mimic the Kinematics of Serial Flexures Using Freedom and Constraint Topologies

A Contact-Aided Compliant Displacement-Delimited Gripper Manipulator

Automatic Structural Synthesis of the Whole Family of Planar 3-Degrees of Freedom Closed Loop Mechanisms

Autogenerating/Drawing Valid Arrays and Contracted Graphs With Pentagonal Links for Type Synthesis of Mechanism by Computer Aided Design

Design and Testing of an Adjustable Linkage for a Variable Displacement Pump

An Analytical Model for Calculating the Workspace of a Flexure Hexapod Nanopositioner

A Computational Approach for Cam Size Optimization of Disc Cam-Follower Mechanisms With Translating Roller Followers

Exact Constraint Design of a Two-Degree of Freedom Flexure-Based Mechanism

Density-Convex Model Based Robust Optimization to Key Components of Surgical Robot

Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems

Haptic Hand Exoskeleton for Precision Grasp Simulation

Type Synthesis of 3-DOF Parallel Manipulators With Both a Planar Operation Mode and a Spatial Translational Operation Mode

A Novel Deployable Hexahedron Mobile Mechanism Constructed by Only Prismatic Joints

Characterization and Modeling of Elastomeric Joints in Miniature Compliant Mechanisms

Kinetostatics of S-(nS)PU-SPU and S-(nS)PU-2SPU Nonholonomic Parallel Wrists

Technical Briefs

A Kinematic Model for Parallel-Joint Coordinate Measuring Machine

The Dimensional Synthesis of Spatial Cable-Driven Parallel Mechanisms

Design Innovation Papers

Design of a Novel Long-Range Inflatable Robotic Arm: Manufacturing and Numerical Evaluation of the Joints and Actuation

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