Volume 13 Issue 3 | J. Mechanisms Robotics

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Special Issue: Selected Papers from IDETC-CIE 2020

Guest Editorial

Special Issue: Selected Papers From IDETC-CIE 2020

Pinhas Ben-Tzvi, Leila Notash, Phil Voglewede

J. Mechanisms Robotics. June 2021, 13(3): 030301. doi: https://doi.org/10.1115/1.4050855

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View articletitled, Special Issue: Selected Papers From IDETC-CIE 2020

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Topics: Design , Robotics , Robots , Stiffness , Cables , Degrees of freedom , Modeling

Research Papers

Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator

Ryan Moore, Joseph M. Schimmels

J. Mechanisms Robotics. June 2021, 13(3): 031001. doi: https://doi.org/10.1115/1.4050104

Abstract

View articletitled, Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator

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Topics: Actuators , Cables , Deflection , Design , Pulleys , Springs , Stiffness , Testing , Motors

Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms

Kendall Seymour, Pietro Bilancia, Spencer Magleby, Larry Howell

J. Mechanisms Robotics. June 2021, 13(3): 031002. doi: https://doi.org/10.1115/1.4049439

Abstract

View articletitled, Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms

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Topics: Cylinders , Deflection , Finite element analysis , Hinges , Membranes , Modeling , Nickel titanium alloys , Stiffness , Surgery , Cantilever beams

Deployable Convex Generalized Cylindrical Surfaces Using Torsional Joints

Todd G. Nelson, Luis M. Baldelomar Pinto, Jared T. Bruton, Zhicheng Deng, Curtis G. Nelson, Larry L. Howell

J. Mechanisms Robotics. June 2021, 13(3): 031003. doi: https://doi.org/10.1115/1.4049951

Abstract

View articletitled, Deployable Convex Generalized Cylindrical Surfaces Using Torsional Joints

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Topics: Airfoils , Errors , Geometry , Optimization , Shapes , Springs , Stiffness , Stress , Torsion , Design

Reprogrammable Kinematic Branches in Tessellated Origami Structures

Phanisri P. Pratapa, Ke Liu, Siva P. Vasudevan, Glaucio H. Paulino

J. Mechanisms Robotics. June 2021, 13(3): 031004. doi: https://doi.org/10.1115/1.4049949

Abstract

View articletitled, Reprogrammable Kinematic Branches in Tessellated Origami Structures

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Topics: Geometry , Kinematics , Deformation , Poisson ratio

Stability Region-Based Analysis of Walking and Push Recovery Control

William Z. Peng, Hyunjong Song, Joo H. Kim

J. Mechanisms Robotics. June 2021, 13(3): 031005. doi: https://doi.org/10.1115/1.4050095

Abstract

View articletitled, Stability Region-Based Analysis of Walking and Push Recovery Control

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Topics: Control equipment , Dynamics (Mechanics) , Humanoid robots , Kinematics , Optimization , Robots , Stability , Trajectories (Physics)

Design of a Single-Degree-of-Freedom Immersive Rehabilitation Device for Clustered Upper-Limb Motion

Ping Zhao, Yating Zhang, Haiwei Guan, Xueting Deng, Haodong Chen

J. Mechanisms Robotics. June 2021, 13(3): 031006. doi: https://doi.org/10.1115/1.4050150

Abstract

View articletitled, Design of a Single-Degree-of-Freedom Immersive Rehabilitation Device for Clustered Upper-Limb Motion

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Topics: Design , Patient rehabilitation , Rehabilitation devices , Kinematics , User interfaces , Virtual reality , Trajectories (Physics)

Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

Xianwen Kong

J. Mechanisms Robotics. June 2021, 13(3): 031007. doi: https://doi.org/10.1115/1.4050152

Abstract

View articletitled, Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

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Topics: Construction , Degrees of freedom , Kinematics , Mechanical admittance , Switches , Trajectories (Physics) , Algebra , Circuits , Cables , Gears

Analysis of the Rigid Motion of a Conical Developable Mechanism

McKell Woodland, Michelle Hsiung, Erin L. Matheson, C. Alex Safsten, Jacob Greenwood, Denise M. Halverson, Larry L. Howell

J. Mechanisms Robotics. June 2021, 13(3): 031008. doi: https://doi.org/10.1115/1.4050294

Abstract

View articletitled, Analysis of the Rigid Motion of a Conical Developable Mechanism

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Topics: Bifurcation , Hinges , Design

A General Method for Constructing Planar Cognate Mechanisms

Samantha N. Sherman, Jonathan D. Hauenstein, Charles W. Wampler

J. Mechanisms Robotics. June 2021, 13(3): 031009. doi: https://doi.org/10.1115/1.4050293

Abstract

View articletitled, A General Method for Constructing Planar Cognate Mechanisms

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Topics: Linkages , Rotation

Static Balancing of Four-Bar Compliant Mechanisms With Torsion Springs by Exerting Negative Stiffness Using Linear Spring At the Instant Center of Rotation

Jorge A. Franco, Juan A. Gallego, Just L. Herder

J. Mechanisms Robotics. June 2021, 13(3): 031010. doi: https://doi.org/10.1115/1.4050313

Abstract

View articletitled, Static Balancing of Four-Bar Compliant Mechanisms With Torsion Springs by Exerting Negative Stiffness Using Linear Spring At the Instant Center of Rotation

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Topics: Compliant mechanisms , Design , Linkages , Springs , Stiffness , Torsion , Rotation , Equilibrium (Physics)

Structure Synthesis of a Class of Parallel Manipulators With Fully Decoupled Projective Motion

Chin-Hsing Kuo, Jian S. Dai

J. Mechanisms Robotics. June 2021, 13(3): 031011. doi: https://doi.org/10.1115/1.4050151

Abstract

View articletitled, Structure Synthesis of a Class of Parallel Manipulators With Fully Decoupled Projective Motion

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Topics: End effectors , Manipulators , Screws , Design

Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow

Jun Liang Lau, Gim Song Soh

J. Mechanisms Robotics. June 2021, 13(3): 031012. doi: https://doi.org/10.1115/1.4050142

Abstract

View articletitled, Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow

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Topics: Sensors , Design , Textiles

A Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities

Rajesh Kumar, Joyjit Mukherjee, Sudipto Mukherjee

J. Mechanisms Robotics. June 2021, 13(3): 031013. doi: https://doi.org/10.1115/1.4049950

Abstract

View articletitled, A Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities

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Topics: Control algorithms , Design , Simulation , Sliding mode control , Stability , Structural mechanics , Shapes , Kinematics , Algorithms , Control equipment

A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission

Yujiong Liu, Pinhas Ben-Tzvi

J. Mechanisms Robotics. June 2021, 13(3): 031014. doi: https://doi.org/10.1115/1.4050097

Abstract

View articletitled, A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission

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Topics: Design , Kinematics , Manipulators , Parallel mechanisms , Robots , Mechanical admittance , Engineering prototypes , Kinematic analysis

A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE(3) and Its Subspaces

A. J. Sánchez-García, J. M. Rico, J. J. Cervantes-Sánchez, P. C. López-Custodio

J. Mechanisms Robotics. June 2021, 13(3): 031015. doi: https://doi.org/10.1115/1.4050096

Abstract

View articletitled, A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of <em>SE</em>(3) and Its Subspaces

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Topics: Kinematics , Mechanical admittance , Screws , Lie algebras , Chain , Jacobian matrices

Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot

Stephen L. Canfield, Joseph S. Owens, Stephen G. Zuccaro

J. Mechanisms Robotics. June 2021, 13(3): 031016. doi: https://doi.org/10.1115/1.4050102

Abstract

View articletitled, Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot

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Topics: Computer programming , Friction , Robots , Torque , Welding

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

Marceau Métillon, Philippe Cardou, Kévin Subrin, Camilo Charron, Stéphane Caro

J. Mechanisms Robotics. June 2021, 13(3): 031017. doi: https://doi.org/10.1115/1.4049631

Abstract

View articletitled, A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

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Topics: Cables , Robots , End effectors , Manipulators

RATS: A Robotic Arm Training System Designed for Rats

Haohan Zhang, Tatiana Luna, Lillian Yang, John Martin, Sunil Agrawal

J. Mechanisms Robotics. June 2021, 13(3): 031018. doi: https://doi.org/10.1115/1.4049804

Abstract

View articletitled, RATS: A Robotic Arm Training System Designed for Rats

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Topics: Design , Kinematics , Robotics , Robots , Chain , Parallel mechanisms , End effectors

Modeling and Design Exploration of a Tensegrity-Based Twisting Wing

Nguyen K. Pham, Edwin A. Peraza Hernandez

J. Mechanisms Robotics. June 2021, 13(3): 031019. doi: https://doi.org/10.1115/1.4050149

Abstract

View articletitled, Modeling and Design Exploration of a Tensegrity-Based Twisting Wing

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Topics: Design , Wings , Wire , Tensegrity , Tensegrity mechanisms

Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms

Yu She, Zhaoyuan Gu, Siyang Song, Hai-Jun Su, Junmin Wang

J. Mechanisms Robotics. June 2021, 13(3): 031020. doi: https://doi.org/10.1115/1.4050379

Abstract

View articletitled, Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms

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Topics: Cables , Design , Shapes , Stiffness , Modeling , Robots

Multiparameter Real-World System Identification Using Iterative Residual Tuning

Adam Allevato, Mitch Pryor, Andrea L. Thomaz

J. Mechanisms Robotics. June 2021, 13(3): 031021. doi: https://doi.org/10.1115/1.4050679

Abstract

View articletitled, Multiparameter Real-World System Identification Using Iterative Residual Tuning

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Topics: Errors , Simulation , System identification , Thermography , Artificial neural networks , Dynamics (Mechanics) , Optimization , Robots

Design Innovation Papers

Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms

Revanth Damerla, Shorya Awtar

J. Mechanisms Robotics. June 2021, 13(3): 035001. doi: https://doi.org/10.1115/1.4049947

Abstract

View articletitled, Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms

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Topics: Chain , Kinematics , Space , Stress , Yaw , End effectors , Rotation , Bearings , Arches

An Optimal Design of a Flexible Piping Inspection Robot

Swaminath Venkateswaran, Damien Chablat, Pol Hamon

J. Mechanisms Robotics. June 2021, 13(3): 035002. doi: https://doi.org/10.1115/1.4049948

Abstract

View articletitled, An Optimal Design of a Flexible Piping Inspection Robot

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Topics: Design , Motors , Optimization , Pipes , Robots , Tensegrity mechanisms , Pipelines , Inspection , Engines

Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

Nishant Jalgaonkar, Adam Kim, Shorya Awtar

J. Mechanisms Robotics. June 2021, 13(3): 035003. doi: https://doi.org/10.1115/1.4050103

Abstract

View articletitled, Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

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Topics: Design , Kinematics , Robots , Actuators , Patient rehabilitation , Sensors

Neural Network-Based Transfer Learning of Manipulator Inverse Displacement Analysis

Houcheng Tang, Leila Notash

J. Mechanisms Robotics. June 2021, 13(3): 035004. doi: https://doi.org/10.1115/1.4050622

Abstract

View articletitled, Neural Network-Based Transfer Learning of Manipulator Inverse Displacement Analysis

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Topics: Artificial neural networks , Displacement , Manipulators

Announcement

Call for Papers for the Special Issue: Selected Papers From IDETC-CIE 2021

Chin-Hsing Kuo, Just Herder, Leila Notash, Guangbo Hao

J. Mechanisms Robotics. June 2021, 13(3): 038001. doi: https://doi.org/10.1115/1.4050467

Extract

View articletitled, Call for Papers for the Special Issue: Selected Papers From IDETC-CIE 2021

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Topics: Design , Robotics

Special Issue: Selected Papers from IDETC-CIE 2020

Guest Editorial

Special Issue: Selected Papers From IDETC-CIE 2020

Research Papers

Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator

Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms

Deployable Convex Generalized Cylindrical Surfaces Using Torsional Joints

Reprogrammable Kinematic Branches in Tessellated Origami Structures

Stability Region-Based Analysis of Walking and Push Recovery Control

Design of a Single-Degree-of-Freedom Immersive Rehabilitation Device for Clustered Upper-Limb Motion

Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

Analysis of the Rigid Motion of a Conical Developable Mechanism

A General Method for Constructing Planar Cognate Mechanisms

Static Balancing of Four-Bar Compliant Mechanisms With Torsion Springs by Exerting Negative Stiffness Using Linear Spring At the Instant Center of Rotation

Structure Synthesis of a Class of Parallel Manipulators With Fully Decoupled Projective Motion

Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow

A Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities

A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission

A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE(3) and Its Subspaces

Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

RATS: A Robotic Arm Training System Designed for Rats

Modeling and Design Exploration of a Tensegrity-Based Twisting Wing

Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms

Multiparameter Real-World System Identification Using Iterative Residual Tuning

Design Innovation Papers

Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms

An Optimal Design of a Flexible Piping Inspection Robot

Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

Neural Network-Based Transfer Learning of Manipulator Inverse Displacement Analysis

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Call for Papers for the Special Issue: Selected Papers From IDETC-CIE 2021

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