Volume 13 Issue 2 | J. Mechanisms Robotics

Topics: Aerodynamics , Buoyancy , Cables , Fluid-dynamic forces , Instrumentation , Mechanical admittance , Simulation , Stability , Vehicles , Visualization

Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction

Gabriel Boucher, Thierry Laliberté, Clément Gosselin

J. Mechanisms Robotics. April 2021, 13(2): 021002. doi: https://doi.org/10.1115/1.4049191

Abstract

View articletitled, Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction

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Topics: Design , Design engineering , Displacement , Engineering prototypes , Kinematics , Robots , Sensors , Shells , Human-robot interaction , Springs

Modeling of a Complete Morphing Mechanism Covered by a Paneled Morphing Skin

Aaron Yu, Fengfeng (Jeff) Xi, Hamid Ghaemi, Bing Li

J. Mechanisms Robotics. April 2021, 13(2): 021003. doi: https://doi.org/10.1115/1.4049441

Abstract

View articletitled, Modeling of a Complete Morphing Mechanism Covered by a Paneled Morphing Skin

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Topics: Actuators , Design , Kinematics , Modeling , Shape memory polymers , Shapes , Skin , Simulation , Deformation

Design and Analysis of a Multisegment Shape Morphing Mechanism

Yingzhong Tian, Yinjun Zhao, Long Li, Guangjie Yuan, Fengfeng Xi

J. Mechanisms Robotics. April 2021, 13(2): 021004. doi: https://doi.org/10.1115/1.4049443

Abstract

View articletitled, Design and Analysis of a Multisegment Shape Morphing Mechanism

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Topics: Design , Kinematics , Shapes , Topology , Mechanical admittance

A Novel Origami-Inspired Delta Mechanism With Flat Parallelogram Joints

Merve Acer Kalafat, Hasan Sevinç, Shahrad Samankan, Atakan Altınkaynak, Zeynep Temel

J. Mechanisms Robotics. April 2021, 13(2): 021005. doi: https://doi.org/10.1115/1.4048917

Abstract

View articletitled, A Novel Origami-Inspired Delta Mechanism With Flat Parallelogram Joints

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Topics: Design , Kinematics , Manufacturing , Origami-inspired design , Errors , Trajectories (Physics) , Robots , Elasticity , Linkages

Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization

MuBang Xiao, Ye Ding

J. Mechanisms Robotics. April 2021, 13(2): 021006. doi: https://doi.org/10.1115/1.4048916

Abstract

View articletitled, Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization

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Topics: Kinematics , Parametrization , Spin (Aerodynamics) , Rotation

Development of a Multi-Cable-Driven Continuum Robot Controlled by Parallel Platforms

Xinbo Chen, Jiantao Yao, Tong Li, Haili Li, Pan Zhou, Yundou Xu, Yongsheng Zhao

J. Mechanisms Robotics. April 2021, 13(2): 021007. doi: https://doi.org/10.1115/1.4048967

Abstract

View articletitled, Development of a Multi-Cable-Driven Continuum Robot Controlled by Parallel Platforms

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Topics: Cables , Robots

Kinematics and Force Transmission Analysis of a Decoupled Remote Center of Motion Mechanism Based on Intersecting Planes

Kaiyu Wu, Fan Zhang, Guohua Cui, Jing Sun, Minhua Zheng

J. Mechanisms Robotics. April 2021, 13(2): 021008. doi: https://doi.org/10.1115/1.4049083

Abstract

View articletitled, Kinematics and Force Transmission Analysis of a Decoupled Remote Center of Motion Mechanism Based on Intersecting Planes

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Topics: End effectors , Kinematics , Screws

Design and Implementation of a Novel Variable Stiffness Actuator With Cam-Based Relocation Mechanism

Yinghao Ning, Hailin Huang, Wenfu Xu, Weimin Zhang, Bing Li

J. Mechanisms Robotics. April 2021, 13(2): 021009. doi: https://doi.org/10.1115/1.4049150

Abstract

View articletitled, Design and Implementation of a Novel Variable Stiffness Actuator With Cam-Based Relocation Mechanism

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Topics: Actuators , Stiffness , Torque , Springs

Compliant Mechanisms That Use Static Balancing to Achieve Dramatically Different States of Stiffness

P. R. Kuppens, M. A. Bessa, J. L. Herder, J. B. Hopkins

J. Mechanisms Robotics. April 2021, 13(2): 021010. doi: https://doi.org/10.1115/1.4049438

Abstract

View articletitled, Compliant Mechanisms That Use Static Balancing to Achieve Dramatically Different States of Stiffness

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Topics: Compliant mechanisms , Stiffness , Torque , Manufacturing

Planar Variable Structure Cable-Driven Parallel Robots for Circumventing Obstacles

Mitchell Rushton, Amir Khajepour

J. Mechanisms Robotics. April 2021, 13(2): 021011. doi: https://doi.org/10.1115/1.4049440

Abstract

View articletitled, Planar Variable Structure Cable-Driven Parallel Robots for Circumventing Obstacles

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Topics: Cables

Enhancing Payload Capacity With Dual-Arm Manipulation and Adaptable Mechanical Intelligence

Raymond Kim, Stephen Balakirsky, Konrad Ahlin, Matthew Marcum, Anirban Mazumdar

J. Mechanisms Robotics. April 2021, 13(2): 021012. doi: https://doi.org/10.1115/1.4049442

Abstract

View articletitled, Enhancing Payload Capacity With Dual-Arm Manipulation and Adaptable Mechanical Intelligence

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Topics: Design , Grippers , Manipulators , Stress , Grasping , End effectors

Classification of a 3-RER Parallel Manipulator Based on the Type and Number of Operation Modes

Xianwen Kong

J. Mechanisms Robotics. April 2021, 13(2): 021013. doi: https://doi.org/10.1115/1.4048262

Abstract

View articletitled, Classification of a 3-RER Parallel Manipulator Based on the Type and Number of Operation Modes

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Topics: Manipulators , Rotation , Kinematics , Polynomials

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

Emmanouil Spyrakos-Papastavridis, Jian S. Dai

J. Mechanisms Robotics. April 2021, 13(2): 021014. doi: https://doi.org/10.1115/1.4049648

Abstract

View articletitled, Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

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Topics: Control equipment , Pole placement , Robots , Stability , Motors

Identification of Non-Transversal Motion Bifurcations of Linkages

Andreas Müller, P.C. López-Custodio, J.S. Dai

J. Mechanisms Robotics. April 2021, 13(2): 021015. doi: https://doi.org/10.1115/1.4049658

Abstract

View articletitled, Identification of Non-Transversal Motion Bifurcations of Linkages

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Topics: Bifurcation , Kinematics , Linkages

Inertial Measurement Unit-Based Optimization Control of a Soft Exosuit for Hip Extension and Flexion Assistance

Qiang Chen, Shijie Guo, Lei Sun, Qiming Liu, Shanhai Jin

J. Mechanisms Robotics. April 2021, 13(2): 021016. doi: https://doi.org/10.1115/1.4049878

Abstract

View articletitled, Inertial Measurement Unit-Based Optimization Control of a Soft Exosuit for Hip Extension and Flexion Assistance

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Topics: Control equipment , Optimization , Stress

Geometric Constraint-Based Reconfiguration and Self-Motions of a Four-CRU Parallel Mechanism

Latifah Nurahmi, Pradiktio Putrayudanto, Guowu Wei, Sunil K. Agrawal

J. Mechanisms Robotics. April 2021, 13(2): 021017. doi: https://doi.org/10.1115/1.4049879

Abstract

View articletitled, Geometric Constraint-Based Reconfiguration and Self-Motions of a Four-CRU Parallel Mechanism

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Topics: Design , Parallel mechanisms , Additive manufacturing , Printing , Shapes

Local and Trajectory-Based Indexes for Task-Related Energetic Performance Optimization of Robotic Manipulators

Fabrizio Vidussi, Paolo Boscariol, Lorenzo Scalera, Alessandro Gasparetto

J. Mechanisms Robotics. April 2021, 13(2): 021018. doi: https://doi.org/10.1115/1.4049972

Abstract

View articletitled, Local and Trajectory-Based Indexes for Task-Related Energetic Performance Optimization of Robotic Manipulators

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Topics: Energy consumption , Inertia (Mechanics) , Manipulators , Robots , Trajectories (Physics)

Design, Kinematics, and Application of Axially and Radially Expandable Modular Soft Pneumatic Actuators

Nianfeng Wang, Bicheng Chen, XianDong Ge, Xianmin Zhang, Wei Chen

J. Mechanisms Robotics. April 2021, 13(2): 021019. doi: https://doi.org/10.1115/1.4049973

Abstract

View articletitled, Design, Kinematics, and Application of Axially and Radially Expandable Modular Soft Pneumatic Actuators

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Topics: Deformation , Design , Kinematics , Manufacturing , Modeling , Pneumatic actuators , Pressure , Robots

Two Actuation Methods for a Complete Morphing System Composed of a VGTM and a Compliant Parallel Mechanism

Fengfeng Xi, Yinjun Zhao, Jieyu Wang, Wenbin Wang, Yingzhong Tian

J. Mechanisms Robotics. April 2021, 13(2): 021020. doi: https://doi.org/10.1115/1.4049975

Abstract

View articletitled, Two Actuation Methods for a Complete Morphing System Composed of a VGTM and a Compliant Parallel Mechanism

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Topics: Actuators , End effectors , Modeling , Shapes , Skin , Engineering prototypes , Parallel mechanisms , Trusses (Building)

Clearance-Induced Orientation Uncertainty of Spherical Linkages

Cody Leeheng Chan, Kwun-Lon Ting

J. Mechanisms Robotics. April 2021, 13(2): 021021. doi: https://doi.org/10.1115/1.4049974

Abstract

View articletitled, Clearance-Induced Orientation Uncertainty of Spherical Linkages

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Topics: Clearances (Engineering) , Linkages , Uncertainty , Errors

Technical Briefs

Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation

Yujiang Xiang, Shadman Tahmid, Paul Owens, James Yang

J. Mechanisms Robotics. April 2021, 13(2): 024501. doi: https://doi.org/10.1115/1.4049647

Abstract

View articletitled, Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation

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Topics: Optimization , Simulation , Torque , Wounds , Dynamics (Mechanics)

An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II

Haosen Yang, Guowu Wei, Lei Ren, Zhihui Qian, Kunyang Wang, Haohua Xiu, Wei Liang

J. Mechanisms Robotics. April 2021, 13(2): 024502. doi: https://doi.org/10.1115/1.4049744

Abstract

View articletitled, An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II

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Topics: End effectors , Engineering prototypes , Grasping , Kinematics , Linkages , Tendons , Design engineering , Design , Robotics

Design Innovation Paper

Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task

June-Sup Yi, Francisco Yumbla, Eugene Auh, Meseret Abayebas, Tuan Anh Luong, Hyungpil Moon

J. Mechanisms Robotics. April 2021, 13(2): 025001. doi: https://doi.org/10.1115/1.4048915

Abstract

View articletitled, Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task

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Topics: Cables , Grippers , Manufacturing , Grasping

TriRhino: A Five-Degrees-of-Freedom of Hybrid Serial–Parallel Manipulator With All Rotating Axes Being Continuous: Stiffness Analysis and Experiments

Yundou Xu, Fan Yang, Zhenghe Xu, Jiantao Yao, Yulin Zhou, Yongsheng Zhao

J. Mechanisms Robotics. April 2021, 13(2): 025002. doi: https://doi.org/10.1115/1.4049192

Abstract

View articletitled, TriRhino: A Five-Degrees-of-Freedom of Hybrid Serial–Parallel Manipulator With All Rotating Axes Being Continuous: Stiffness Analysis and Experiments

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Topics: Calibration , Manipulators , Stiffness , Machining , Structural design , Finite element analysis

Editorial

Reviewer’s Recognition

Review Article

Surgical Applications of Compliant Mechanisms: A Review

Research Papers

Balloon Locomotion for Extreme Terrain

Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction

Modeling of a Complete Morphing Mechanism Covered by a Paneled Morphing Skin

Design and Analysis of a Multisegment Shape Morphing Mechanism

A Novel Origami-Inspired Delta Mechanism With Flat Parallelogram Joints

Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization

Development of a Multi-Cable-Driven Continuum Robot Controlled by Parallel Platforms

Kinematics and Force Transmission Analysis of a Decoupled Remote Center of Motion Mechanism Based on Intersecting Planes

Design and Implementation of a Novel Variable Stiffness Actuator With Cam-Based Relocation Mechanism

Compliant Mechanisms That Use Static Balancing to Achieve Dramatically Different States of Stiffness

Planar Variable Structure Cable-Driven Parallel Robots for Circumventing Obstacles

Enhancing Payload Capacity With Dual-Arm Manipulation and Adaptable Mechanical Intelligence

Classification of a 3-RER Parallel Manipulator Based on the Type and Number of Operation Modes

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

Identification of Non-Transversal Motion Bifurcations of Linkages

Inertial Measurement Unit-Based Optimization Control of a Soft Exosuit for Hip Extension and Flexion Assistance

Geometric Constraint-Based Reconfiguration and Self-Motions of a Four-CRU Parallel Mechanism

Local and Trajectory-Based Indexes for Task-Related Energetic Performance Optimization of Robotic Manipulators

Design, Kinematics, and Application of Axially and Radially Expandable Modular Soft Pneumatic Actuators

Two Actuation Methods for a Complete Morphing System Composed of a VGTM and a Compliant Parallel Mechanism

Clearance-Induced Orientation Uncertainty of Spherical Linkages

Technical Briefs

Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation

An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II

Design Innovation Paper

Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task

TriRhino: A Five-Degrees-of-Freedom of Hybrid Serial–Parallel Manipulator With All Rotating Axes Being Continuous: Stiffness Analysis and Experiments

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