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Journal Articles

Control of Pneumatic Artificial Muscle actuated Two DOF Robot Using PD Based PWM Strategy with Feed Forward Outer Control Loop

Sushant Maurya, Ashish Dutta

J. Mechanisms Robotics.

Paper No: JMR-22-1128

DOI: https://doi.org/10.1115/1.4062212

Published Online: March 24, 2023

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Topics: Design, Feedforward control, Muscle, Robots, Pressure, Control equipment, Pneumatic control valves, Circuits, Degrees of freedom, Dynamics (Mechanics)

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

J. Mechanisms Robotics. June 2023, 15(3): 031005.

Paper No: JMR-22-1186

DOI: https://doi.org/10.1115/1.4056954

Published Online: March 8, 2023

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Topics: Errors, Modeling, Robots, Stress, Optimization, Design

Journal Articles

Self-Aligning Rotational Latching Mechanisms: Optimal Geometry for Mechanical Robustness

Gabriel Fernandez, Samuel Gessow, Justin Quan, Dennis W. Hong

J. Mechanisms Robotics.

Paper No: JMR-22-1509

DOI: https://doi.org/10.1115/1.4057073

Published Online: March 7, 2023

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Topics: Blades, Containers, Control equipment, Design, End effectors, Errors, Fixturing, Geometry, Grasping, Kinematics

Journal Articles

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

Jason Bettega, Dario Richiedei, Iacopo Tamellin, Alberto Trevisani

J. Mechanisms Robotics. June 2023, 15(3): 031002.

Paper No: JMR-22-1261

DOI: https://doi.org/10.1115/1.4056437

Published Online: January 25, 2023

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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

J. Mechanisms Robotics. December 2023, 15(6): 064502.

Paper No: JMR-22-1356

DOI: https://doi.org/10.1115/1.4056502

Published Online: January 23, 2023

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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

J. Mechanisms Robotics. December 2023, 15(6): 061014.

Paper No: JMR-22-1409

DOI: https://doi.org/10.1115/1.4056577

Published Online: January 23, 2023

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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control

Journal Articles

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

Fujie Yu, Qilong Zhu, Yuan Chen

J. Mechanisms Robotics. December 2023, 15(6): 064501.

Paper No: JMR-22-1280

DOI: https://doi.org/10.1115/1.4056378

Published Online: January 18, 2023

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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

J. Mechanisms Robotics. December 2023, 15(6): 065001.

Paper No: JMR-21-1569

DOI: https://doi.org/10.1115/1.4056404

Published Online: January 18, 2023

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Topics: End effectors, Grasping, Grippers, Robotics, Rotation, Trajectories (Physics), Robots, Design, Errors

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

J. Mechanisms Robotics. December 2023, 15(6): 061011.

Paper No: JMR-22-1414

DOI: https://doi.org/10.1115/1.4056405

Published Online: January 18, 2023

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Topics: Errors, Robots, Deformation, Kinematics

Journal Articles

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

Thibaut Paty, Nicolas Binaud, Hong Wang, Stéphane Segonds

J. Mechanisms Robotics. December 2023, 15(6): 061001.

Paper No: JMR-21-1745

DOI: https://doi.org/10.1115/1.4056234

Published Online: January 17, 2023

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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

J. Mechanisms Robotics. August 2023, 15(4): 041014.

Paper No: JMR-22-1120

DOI: https://doi.org/10.1115/1.4055740

Published Online: November 15, 2022

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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

J. Mechanisms Robotics. August 2023, 15(4): 041002.

Paper No: JMR-21-1404

DOI: https://doi.org/10.1115/1.4055058

Published Online: November 10, 2022

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Topics: Design, Gears, Optimization, Planetary gears, Trains, Algorithms, Errors, Rotation

Journal Articles

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Gustavo A. Medrano-Cerda

J. Mechanisms Robotics. October 2022, 14(5): 055501.

Paper No: JMR-20-1032

DOI: https://doi.org/10.1115/1.4049005

Published Online: August 9, 2022

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Topics: Feedback, Humanoid robots, Robots, Stability, Theorems (Mathematics), Control equipment, Dynamics (Mechanics), Errors, Compliant mechanisms

Journal Articles

Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations

Koen Dwarshuis, Ronald Aarts, Marcel Ellenbroek, Dannis Brouwer

J. Mechanisms Robotics. April 2023, 15(2): 021011.

Paper No: JMR-21-1106

DOI: https://doi.org/10.1115/1.4054730

Published Online: June 23, 2022

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Topics: Bending (Stress), Computation, Deformation, Design, Stiffness, Dimensions, Errors, Stress, Approximation

Journal Articles

Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots

Jianqing Peng, Haoxuan Wu, Darwin Lau

J. Mechanisms Robotics. February 2023, 15(1): 011013.

Paper No: JMR-22-1005

DOI: https://doi.org/10.1115/1.4054634

Published Online: June 6, 2022

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Topics: Cables, Dynamics (Mechanics), Iterative learning control, Trajectories (Physics), Errors, Robots

Journal Articles

Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator

Ahmed Soliman, Guilherme A. Ribeiro, Dongming Gan, Mo Rastgaar

J. Mechanisms Robotics. February 2023, 15(1): 014502.

Paper No: JMR-21-1281

DOI: https://doi.org/10.1115/1.4053825

Published Online: May 12, 2022

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Topics: Design, Manipulators, Trajectories (Physics), End effectors, Errors, Prostheses

Journal Articles

Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

A. T. Markus, M. R. Sobczyk, E. A. Perondi

J. Mechanisms Robotics. February 2023, 15(1): 011002.

Paper No: JMR-21-1596

DOI: https://doi.org/10.1115/1.4054084

Published Online: April 25, 2022

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Topics: Actuators, Artificial limbs, Dynamics (Mechanics), Errors, Muscle, Pressure, Prostheses, Simulation, Valves, Control equipment

Journal Articles

Increasing Reliability of Self-Folding of the Origami Hypar

Addison Liu, Mykell Johnson, Cynthia Sung

J. Mechanisms Robotics. December 2022, 14(6): 060904.

Paper No: JMR-21-1721

DOI: https://doi.org/10.1115/1.4054310

Published Online: April 25, 2022

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Topics: Errors, Hinges, Manufacturing, Reliability, Simulation, Laminates, Shapes, Delamination, Simulation results, Springs

Journal Articles

Efficient Model-Free Calibration of a 5-Degree of Freedom Hybrid Robot

NanYan Shen, HengMing Yuan, Jing Li, ZiRui Wang, Liang Geng, HuiEn Shi, NingHe Lu

J. Mechanisms Robotics. October 2022, 14(5): 051011.

Paper No: JMR-21-1256

DOI: https://doi.org/10.1115/1.4053824

Published Online: April 8, 2022

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Topics: Calibration, Errors, Robots, Artificial neural networks

Journal Articles

Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model

Jun Gao, Bin Zhou, Bin Zi, Sen Qian, Ping Zhao

J. Mechanisms Robotics. October 2022, 14(5): 051008.

Paper No: JMR-21-1352

DOI: https://doi.org/10.1115/1.4053219

Published Online: February 21, 2022

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Topics: Cables, Errors, Kinematics, Pulleys, Uncertainty, Uncertainty analysis, Robots

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Journal citation

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Supplemental Material

Manuscript

Control of Pneumatic Artificial Muscle actuated Two DOF Robot Using PD Based PWM Strategy with Feed Forward Outer Control Loop

Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints

Self-Aligning Rotational Latching Mechanisms: Optimal Geometry for Mechanical Robustness

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

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

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

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

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

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

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

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

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

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations

Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots

Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator

Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

Increasing Reliability of Self-Folding of the Origami Hypar

Efficient Model-Free Calibration of a 5-Degree of Freedom Hybrid Robot

Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model

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