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Journal Articles

Locust-inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability

Accepted Manuscript
Xiaojuan Mo, Wenjie Ge, Yifei Ren, Donglai Zhao, Dunwen Wei, Donato Romano
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
Publisher: ASME
J. Mechanisms Robotics.
Paper No: JMR-22-1560
https://doi.org/10.1115/1.4063406
Published Online: September 12, 2023
View Article titled, Locust-inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability
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Topics: Design, Robots, Stability, Dynamic stability, Kinematics, Springs, Dynamic modeling, Dynamic models, Mobile robots, Momentum
Journal Articles

Motion Modeling of a 5-Axis Delta Robot with Telescopic Shafts

Baran Alikoç, Vojtěch Šustr, Filip Zítek, Pavel Burget, Alexander Lomakin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041013.
Paper No: JMR-22-1537
https://doi.org/10.1115/1.4062672
Published Online: August 8, 2023
View Article titled, Motion Modeling of a 5-Axis Delta Robot with Telescopic Shafts
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Topics: Dynamic models, Kinematics, Modeling, Robots
Journal Articles

Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

Weixing Chen, Yu Wen, Xiaochuan Tong, Chaoxiong Lin, Jiang Li, Shuyou Wang, Wei Xie, Lifeng Mao, Xianchao Zhao, Weidong Zhang, Feng Gao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041015.
Paper No: JMR-23-1023
https://doi.org/10.1115/1.4062177
Published Online: May 2, 2023
View Article titled, Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
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Topics: Actuators, Control equipment, Inertia (Mechanics), Ships, Waves, Dynamics (Mechanics), Design, Stress, Errors, Dynamic models
Journal Articles

Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

Jun Wu, Jiahao Qiu, Hao Ye
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021005.
Paper No: JMR-21-1729
https://doi.org/10.1115/1.4054618
Published Online: June 21, 2022
View Article titled, Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range
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Topics: Actuators, Manipulators, Optimization, Torque, Redundant manipulators, Dynamic models, Trajectories (Physics)
Journal Articles

Dynamic Modeling and Simulation of a Hybrid Robot

Nanyan Shen, Hengming Yuan, Jing Li, Zirui Wang, Ninghe Lu, Yushun Lu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011012.
Paper No: JMR-21-1588
https://doi.org/10.1115/1.4054322
Published Online: May 12, 2022
View Article titled, Dynamic Modeling and Simulation of a Hybrid Robot
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Topics: Kinematics, Parallel mechanisms, Robots, Simulation, Kinematic analysis, Equilibrium (Physics), Dynamic models, Inertia (Mechanics), Rotation, Design
Journal Articles

Design, Dynamic Analysis, and Experimental Evaluation of a Hybrid Parallel–Serial Polishing Machine With Decoupled Motions

Peng Xu, Chi Fai Cheung, Bing Li, Chunjin Wang, Chenyang Zhao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061008.
Paper No: JMR-20-1553
https://doi.org/10.1115/1.4050829
Published Online: June 3, 2021
View Article titled, Design, Dynamic Analysis, and Experimental Evaluation of a Hybrid Parallel–Serial Polishing Machine With Decoupled Motions
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Topics: Design, Dynamic analysis, Kinematics, Polishing, End effectors, Machinery, Machining, Dynamic models, Simulation
Journal Articles

Control and Control Allocation for Bimodal, Rotary Wing, Rolling–Flying Vehicles

Stefan Atay, Matthew Bryant, Gregory Buckner
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050904.
Paper No: JMR-21-1015
https://doi.org/10.1115/1.4050998
Published Online: May 17, 2021
View Article titled, Control and Control Allocation for Bimodal, Rotary Wing, Rolling–Flying Vehicles
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Topics: Control equipment, Control systems, Rotors, Thrust, Vehicles, Uncertainty, Algorithms, Hardware, Design, Dynamic models
Journal Articles

Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact

Jiayin Xie, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041001.
Paper No: JMR-20-1012
https://doi.org/10.1115/1.4049877
Published Online: April 9, 2021
View Article titled, Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact
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Topics: Equations of motion, Friction, Hull, Modeling, Simulation, Dynamic models, Rigid-body mechanisms, Collisions (Physics), Impulse (Physics), Kinematics
Journal Articles

Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots

Jiayin Xie, Chenghao Bi, David J. Cappelleri, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041005.
Paper No: JMR-20-1242
https://doi.org/10.1115/1.4050098
Published Online: April 9, 2021
View Article titled, Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots
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Topics: Design, Dynamic models, Errors, Manufacturing, Robots, Simulation, Geometry, Aluminum, Adhesives, Magnetization
Journal Articles

Gateway Configuration for Rapid Pick-and-Place Operations of 2-Degrees-of-Freedom Parallel Robots

Andrea Martin-Parra, David Rodriguez-Rosa, Sergio Juarez-Perez, Guillermo Rubio-Gomez, Antonio Gonzalez-Rodriguez, Fernando J. Castillo-Garcia
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014504.
Paper No: JMR-20-1047
https://doi.org/10.1115/1.4048427
Published Online: November 13, 2020
View Article titled, Gateway Configuration for Rapid Pick-and-Place Operations of 2-Degrees-of-Freedom Parallel Robots
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Topics: End effectors, Energy consumption, Kinematics, Robots, Trajectories (Physics), Gates (Closures), Design, Torque, Dynamic models, Simulation
Journal Articles

Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System

Liwei Ni, Fangwu Ma, Linhe Ge, Liang Wu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011014.
Paper No: JMR-19-1488
https://doi.org/10.1115/1.4048226
Published Online: October 22, 2020
View Article titled, Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System
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Topics: Actuators, Damping, Design, Robots, Simulation, Suspension systems, Wheels, Springs, Control equipment, Vibration isolation
Journal Articles

An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion

Yujiong Liu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041003.
Paper No: JMR-19-1178
https://doi.org/10.1115/1.4045689
Published Online: March 6, 2020
View Article titled, An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
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Topics: Closed kinematic chains, Design, Dynamic models, Dynamics (Mechanics), Flight, Kinematics, Optimization, Robotics, Robots, Simulation
Journal Articles

Design, Modeling, and Motion Analysis of a Novel Fluid Actuated Spherical Rolling Robot

Seyed Amir Tafrishi, Mikhail Svinin, Esmaeil Esmaeilzadeh, Motoji Yamamoto
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041010.
Paper No: JMR-19-1053
https://doi.org/10.1115/1.4043689
Published Online: May 17, 2019
View Article titled, Design, Modeling, and Motion Analysis of a Novel Fluid Actuated Spherical Rolling Robot
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Topics: Actuators, Cylinders, Design, Fluids, Pipes, Robots, Torque, Engines, Motors, Simulation
Journal Articles

Minimum Base Attitude Disturbance Planning for a Space Robot During Target Capture

Jingchen Hu, Tianshu Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051002.
Paper No: JMR-17-1204
https://doi.org/10.1115/1.4040435
Published Online: June 27, 2018
View Article titled, Minimum Base Attitude Disturbance Planning for a Space Robot During Target Capture
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Topics: Robots, Dynamic models
Journal Articles

Dynamic Structural and Contact Modeling for a Silicon Hexapod Microrobot

Jinhong Qu, Jongsoo Choi, Kenn R. Oldham
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061006.
Paper No: JMR-17-1106
https://doi.org/10.1115/1.4037802
Published Online: September 18, 2017
View Article titled, Dynamic Structural and Contact Modeling for a Silicon Hexapod Microrobot
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Topics: Robots, Resonance, Adhesion, Dynamics (Mechanics), Dynamic models, Testing, Vibration, Silicon
Journal Articles

A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing

Damien Six, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051008.
Paper No: JMR-17-1046
https://doi.org/10.1115/1.4037256
Published Online: August 7, 2017
View Article titled, A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing
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Topics: Dynamic models, Robots, Control equipment, Trajectories (Physics)
Journal Articles

Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization

Jingchen Hu, Tianshu Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031010.
Paper No: JMR-16-1192
https://doi.org/10.1115/1.4035373
Published Online: March 23, 2017
View Article titled, Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization
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Topics: Impulse (Physics), Manipulators, Robots, Inertia (Mechanics), Design, Dynamic models, Eigenvalues, Collisions (Physics)
Journal Articles

Robotic Modular Leg: Design, Analysis, and Experimentation

Wael Saab, William S. Rone, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2017, 9(2): 024501.
Paper No: JMR-16-1293
https://doi.org/10.1115/1.4035685
Published Online: March 9, 2017
View Article titled, Robotic Modular Leg: Design, Analysis, and Experimentation
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Topics: Design, Engineering prototypes, Kinematics, Motors, Robotics, Robots, Trajectories (Physics), Dynamic models, Dynamics (Mechanics)
Journal Articles

Design, Fabrication, and Modeling of an Electric–Magnetic Self-Folding Sheet

Landen Bowen, Kara Springsteen, Saad Ahmed, Erika Arrojado, Mary Frecker, Timothy W. Simpson, Zoubeida Ounaies, Paris von Lockette
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021012.
Paper No: JMR-16-1315
https://doi.org/10.1115/1.4035966
Published Online: March 9, 2017
View Article titled, Design, Fabrication, and Modeling of an Electric–Magnetic Self-Folding Sheet
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Topics: Actuators, Approximation, Design, Dynamic models, Manufacturing, Modeling, Plasma desorption mass spectrometry, Stiffness, Dynamic modeling, Active materials
Journal Articles

Trade Space Exploration of Magnetically Actuated Origami Mechanisms

Landen Bowen, Kara Springsteen, Mary Frecker, Timothy Simpson
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. June 2016, 8(3): 031012.
Paper No: JMR-15-1184
https://doi.org/10.1115/1.4032406
Published Online: March 7, 2016
View Article titled, Trade Space Exploration of Magnetically Actuated Origami Mechanisms
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Topics: Active materials, Approximation, Design, Dynamic models, Errors, Magnetic materials, Shapes, Torque, Stiffness