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Journal Articles

A New Error Compensation Method for Delta Robots Combining Geometric Error Modeling With Spatial Interpolating

Jianwei Ma, Yabin Shen, Shumei Zhang, Huiteng Yan, Zhenyuan Jia
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051012.
Paper No: JMR-23-1114
https://doi.org/10.1115/1.4062947
Published Online: August 8, 2023
View Article titled, A New Error Compensation Method for Delta Robots Combining Geometric Error Modeling With Spatial Interpolating
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Topics: Errors, Robots, Error compensation
Journal Articles

Enhancing Kinematic Calibration Accuracy for Parallel Manipulators Based on Truncated Total Least-Square Regularization

Sheng Jian, Hao Xiong, Xiansheng Yang, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051013.
Paper No: JMR-23-1125
https://doi.org/10.1115/1.4062948
Published Online: August 8, 2023
View Article titled, Enhancing Kinematic Calibration Accuracy for Parallel Manipulators Based on Truncated Total Least-Square Regularization
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Topics: Calibration, Errors, Kinematics
Journal Articles

Visual-Biased Observability Index for Camera-Based Robot Calibration

Shouhei Shirafuji, Hiroki Goto, Xiaotian Zhang, Keiji Okuhara, Noritaka Takamura, Naoya Kagawa, Hiroyasu Baba, Jun Ota
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051010.
Paper No: JMR-23-1022
https://doi.org/10.1115/1.4062801
Published Online: July 20, 2023
View Article titled, Visual-Biased Observability Index for Camera-Based Robot Calibration
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Topics: Calibration, Kinematics, Robots, End effectors, Errors, Manipulators
Journal Articles

Design and Analysis of a Six-Degree-of-Freedom Microsurgical Instruments Based on Rigid-Flexible Coupling Multi-Body System

Xuewen Wang, Yang Yu, Jinhe Yang, Zhenbang Xu, Haipeng Liu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051007.
Paper No: JMR-22-1076
https://doi.org/10.1115/1.4062791
Published Online: July 20, 2023
View Article titled, Design and Analysis of a Six-Degree-of-Freedom Microsurgical Instruments Based on Rigid-Flexible Coupling Multi-Body System
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Topics: Instrumentation, Kinematics, Modeling, Errors, Stress, Surgery, Design
Journal Articles

Development of a Base-Actuated Three-Rhombus Configured Remote Center of Motion Mechanism for Lumbar Puncture

Yuzhou Duan, Jie Ling, Zhao Feng, Daojin Yao, Yuchuan Zhu
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054503.
Paper No: JMR-22-1386
https://doi.org/10.1115/1.4062761
Published Online: July 20, 2023
View Article titled, Development of a Base-Actuated Three-Rhombus Configured Remote Center of Motion Mechanism for Lumbar Puncture
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Topics: Design, End effectors, Kinematics, Optimization, Needles, Errors, Linkages, Jacobian matrices, Engineering prototypes
Journal Articles

Geometric Error Calibration of XYZ -3RPS Hybrid Kinematic Machine via Binocular Vision

Xiangyu Guo, Rui Wang, Shisheng Zhong, Yuhao Ge, Lingyu Yue
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041006.
Paper No: JMR-22-1503
https://doi.org/10.1115/1.4062465
Published Online: June 5, 2023
View Article titled, Geometric Error Calibration of XYZ -3RPS Hybrid Kinematic Machine via Binocular Vision
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Topics: Calibration, Errors, Kinematics, Machinery, Error compensation
Journal Articles

Design of Position Estimator for Rope Driven Micromanipulator of Surgical Robot Based on Parameter Autonomous Selection Model

Wenjie Wang, Jie Wang, Congcong Chen, Yang Luo, Xiaohua Wang, Lingtao Yu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041005.
Paper No: JMR-22-1292
https://doi.org/10.1115/1.4062464
Published Online: June 5, 2023
View Article titled, Design of Position Estimator for Rope Driven Micromanipulator of Surgical Robot Based on Parameter Autonomous Selection Model
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Topics: Design, Errors, Robots, Ropes, Surgery, Algorithms, Engineering prototypes, Robustness, Position control
Journal Articles

Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section

Christian DeBuys, Florin C. Ghesu, Jagadeesan Jayender, Reza Langari, Young-Ho Kim
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061019.
Paper No: JMR-22-1604
https://doi.org/10.1115/1.4062354
Published Online: May 2, 2023
View Article titled, Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section
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Topics: Errors, Kinematics, Manipulators, Tendons, Tension, Robots, Design
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

Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop

Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031008.
Paper No: JMR-22-1128
https://doi.org/10.1115/1.4062212
Published Online: April 10, 2023
View Article titled, Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
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Topics: Control equipment, Degrees of freedom, Design, Dynamics (Mechanics), Feedforward control, Manipulators, Muscle, Pressure, Robots, Valves
Journal Articles

Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints

Xiang Wang, Yue Ding, Lingyun Zeng, Chuanxiang Zhu, Baibo Wu, Kai Xu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031005.
Paper No: JMR-22-1186
https://doi.org/10.1115/1.4056954
Published Online: March 8, 2023
View Article titled, Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints
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Topics: Errors, Modeling, Robots, Stress, Optimization, Design
Journal Articles

Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems

Jason Bettega, Dario Richiedei, Iacopo Tamellin, Alberto Trevisani
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031002.
Paper No: JMR-22-1261
https://doi.org/10.1115/1.4056437
Published Online: January 25, 2023
View Article titled, Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
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Topics: Dynamics (Mechanics), Feedforward control, Errors
Journal Articles

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064502.
Paper No: JMR-22-1356
https://doi.org/10.1115/1.4056502
Published Online: January 23, 2023
View Article titled, Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
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Topics: Cables, Calibration, Degrees of freedom, Design, Laparoscopic devices, Robotics, Robots, Surgery, Motion control, Finite element analysis
Journal Articles

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061014.
Paper No: JMR-22-1409
https://doi.org/10.1115/1.4056577
Published Online: January 23, 2023
View Article titled, Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control
Journal Articles

A Modeling and Calibration Method of Heavy-Duty Automated Fiber Placement Robot Considering Compliance and Joint-Dependent Errors

Xiaokang Xu, Liang Cheng, Yingjie Guo, Jiangxiong Li, Yinglin Ke
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061011.
Paper No: JMR-22-1414
https://doi.org/10.1115/1.4056405
Published Online: January 18, 2023
View Article titled, A Modeling and Calibration Method of Heavy-Duty Automated Fiber Placement Robot Considering Compliance and Joint-Dependent Errors
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Topics: Errors, Robots, Deformation, Kinematics
Journal Articles

Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems

Fujie Yu, Qilong Zhu, Yuan Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064501.
Paper No: JMR-22-1280
https://doi.org/10.1115/1.4056378
Published Online: January 18, 2023
View Article titled, Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
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Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds
Journal Articles

Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand

P. Seguin, C. Preault, P. Vulliez, J. P. Gazeau
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2023, 15(6): 065001.
Paper No: JMR-21-1569
https://doi.org/10.1115/1.4056404
Published Online: January 18, 2023
View Article titled, Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand
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Topics: End effectors, Grasping, Grippers, Robotics, Rotation, Trajectories (Physics), Robots, Design, Errors
Journal Articles

Sensitivity Analysis of a Suspended Cable-Driven Parallel Robot to Design Parameters

Thibaut Paty, Nicolas Binaud, Hong Wang, Stéphane Segonds
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061001.
Paper No: JMR-21-1745
https://doi.org/10.1115/1.4056234
Published Online: January 17, 2023
View Article titled, Sensitivity Analysis of a Suspended Cable-Driven Parallel Robot to Design Parameters
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Topics: Cables, Errors, Pulleys, Parametrization, Design, Dimensions, Experimental design
Journal Articles

Sensitivity Analysis and Accuracy Synthesis of a Deployable Antenna Considering Clearances and Link Tolerances

Jianzhong Ding, Yang Dong, Xueao Liu, Chunjie Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041014.
Paper No: JMR-22-1120
https://doi.org/10.1115/1.4055740
Published Online: November 15, 2022
View Article titled, Sensitivity Analysis and Accuracy Synthesis of a Deployable Antenna Considering Clearances and Link Tolerances
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Topics: Errors
Journal Articles

Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm

Lei Wang, Liang Sun, Gaohong Yu, Yuzhu Zhou
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041002.
Paper No: JMR-21-1404
https://doi.org/10.1115/1.4055058
Published Online: November 10, 2022
View Article titled, Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm
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Topics: Design, Gears, Optimization, Planetary gears, Trains, Algorithms, Errors, Rotation