Volume 15 Issue 5 | J. Mechanisms Robotics

Research Papers

On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm

Jean-Michel Boisclair, Thierry Laliberté, Clément Gosselin

J. Mechanisms Robotics. October 2023, 15(5): 051001. doi: https://doi.org/10.1115/1.4055605

View articletitled, On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm

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Topics: Artificial limbs , Deformation , Design , Grasping , Rolling contact , Optimization , Cables , Pinch effect , Friction , Prostheses

Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles

Yiyu Chen, Lingchen Lian, Yu-Hsiu Hsieh, Quan Nguyen, Satyandra K. Gupta

J. Mechanisms Robotics. October 2023, 15(5): 051002. doi: https://doi.org/10.1115/1.4055625

Abstract

View articletitled, Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles

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Topics: Robots , Safety , Collisions (Physics) , Trajectories (Physics) , Simulation

Orientation Workspace Analysis and Parameter Optimization of 3-RRPS Parallel Robot for Pelvic Fracture Reduction

Jingtao Lei, Jinhong Wang

J. Mechanisms Robotics. October 2023, 15(5): 051003. doi: https://doi.org/10.1115/1.4055741

Abstract

View articletitled, Orientation Workspace Analysis and Parameter Optimization of 3-RRPS Parallel Robot for Pelvic Fracture Reduction

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Topics: Pelvic fractures , Robots , Optimization , Rotation , Kinematics

Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices

Anandaroop Lahiri, Phanisri P. Pratapa

J. Mechanisms Robotics. October 2023, 15(5): 051004. doi: https://doi.org/10.1115/1.4055742

Abstract

View articletitled, Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices

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Topics: Deformation , Degrees of freedom , Equilibrium (Physics) , Stiffness , Modeling , Displacement

Constructing Three-Dimensional Honeycomb Structures Based on Origami Geometry

Kazuya Saito, Akinobu Fujimoto, Yoji Okabe

J. Mechanisms Robotics. October 2023, 15(5): 051005. doi: https://doi.org/10.1115/1.4055823

Abstract

View articletitled, Constructing Three-Dimensional Honeycomb Structures Based on Origami Geometry

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Topics: Design , Honeycomb structures , Shapes

Development of a Constant Force Suspended Backpack for Variable Load and Variable Speed Locomotion

Haotian Ju, Liang Gao, Hongwu Li, Dongbao Sui, Qinghua Zhang, Yanhe Zhu, Jie Zhao

J. Mechanisms Robotics. October 2023, 15(5): 051006. doi: https://doi.org/10.1115/1.4055935

Abstract

View articletitled, Development of a Constant Force Suspended Backpack for Variable Load and Variable Speed Locomotion

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Topics: Stress , Design , Springs , Stiffness , Pulleys

Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint

Bing Chen, Chenpu Shi, Chengwang Zheng, Bin Zi, Ping Zhao, Yuan Li

J. Mechanisms Robotics. October 2023, 15(5): 051007. doi: https://doi.org/10.1115/1.4055936

Abstract

View articletitled, Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint

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Topics: Exoskeleton devices , Knee , Cycles , Recycling

Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting

Zhuo Ma, Jianbin Liu, Guoyu Ma, Jingshuo Gao, Baojun Chen, Siyang Zuo

J. Mechanisms Robotics. October 2023, 15(5): 051008. doi: https://doi.org/10.1115/1.4055964

Abstract

View articletitled, Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting

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Topics: Exoskeleton devices , Fatigue , Stiffness , Torque , Pressure , Muscle , Energy consumption , Knee

Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot

Zhou Zhou, Clément Gosselin

J. Mechanisms Robotics. October 2023, 15(5): 051009. doi: https://doi.org/10.1115/1.4055965

Abstract

View articletitled, Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot

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Topics: Kinematics , Robots , Design , Chain , Jacobian matrices

Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation

Carlos Saldarriaga, Imin Kao

J. Mechanisms Robotics. October 2023, 15(5): 051010. doi: https://doi.org/10.1115/1.4055966

Abstract

View articletitled, Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation

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Topics: Equilibrium (Physics) , Robots , Steady state , Damping , Dynamic response , Redundant manipulators , Stiffness , Displacement

Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone

Qingyu Xiao, Mishek Musa, Isuru S. Godage, Hao Su, Yue Chen

J. Mechanisms Robotics. October 2023, 15(5): 051011. doi: https://doi.org/10.1115/1.4055860

Abstract

View articletitled, Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone

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Topics: Modeling , Nickel titanium alloys , Robots , Stiffness , Tendons

Thick-Panel Origami Tubes With Hexagonal Cross-Sections

Weilin Lv, Yan Chen, Jianjun Zhang

J. Mechanisms Robotics. October 2023, 15(5): 051012. doi: https://doi.org/10.1115/1.4056082

Abstract

View articletitled, Thick-Panel Origami Tubes With Hexagonal Cross-Sections

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Topics: Cross section (Physics) , Linkages , Kinematics

Extensible Continuum Manipulator Toward In-situ Explosive Ordnance Disposal

Pengyuan Wang, Binchen Deng, Zongbo He, Yuqiang Liu, Zhiguang Xing, Jianwen Zhao

J. Mechanisms Robotics. October 2023, 15(5): 051013. doi: https://doi.org/10.1115/1.4056080

Abstract

View articletitled, Extensible Continuum Manipulator Toward In-situ Explosive Ordnance Disposal

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Topics: Explosives , Manipulators , Robots , Weapons

A Walking Claw for Tethered Object Retrieval

Yifeng Gong, Alexander M. Behr, Nicole M. Graf, Kaiyi Chen, Zhili Gong, Kathryn A. Daltorio

J. Mechanisms Robotics. October 2023, 15(5): 051014. doi: https://doi.org/10.1115/1.4055812

Abstract

View articletitled, A Walking Claw for Tethered Object Retrieval

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Topics: Grasping , Kinematics , Robots , Design

Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips

Ho Sang Jung, Ji Yeop Kim, Sang Yul Yang, Kihyeon Kim, Jae Hyeong Park, Young Jin Gong, Seung Jae Moon, Hyouk Ryeol Choi

J. Mechanisms Robotics. October 2023, 15(5): 051015. doi: https://doi.org/10.1115/1.4055933

Abstract

View articletitled, Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips

Supplementary data

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Topics: Grippers , Shapes , Actuators , Control equipment

Multi-Branch Cellular Space Robot Mechanism Design and Climbing Behavior Research

Xiaomeng Liu, Bindi You, Rui Wang, Yang Zhao, Cheng Wei, Dexiao An

J. Mechanisms Robotics. October 2023, 15(5): 051016. doi: https://doi.org/10.1115/1.4056602

Abstract

View articletitled, Multi-Branch Cellular Space Robot Mechanism Design and Climbing Behavior Research

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Topics: Kinematics , Robots , Trusses (Building) , Design , Rotation

Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles

Yu-Jeong Han, Hyeon-Ho Yang, Jae-Hung Han

J. Mechanisms Robotics. October 2023, 15(5): 051017. doi: https://doi.org/10.1115/1.4062339

Abstract

View articletitled, Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles

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Topics: Design , Kinematics , Optimization , Thrust , Wings , Flight , Wind tunnels , Vehicles , Manufacturing , Stress

Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand

Yen-Hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Zhongtao Fu, Shuangjia Xu, Jian S. Dai

J. Mechanisms Robotics. October 2023, 15(5): 051018. doi: https://doi.org/10.1115/1.4062238

Abstract

View articletitled, Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand

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Topics: Friction , Design , Robotics , End effectors

Technical Briefs

A Dynamic Loading Mechanism for a Morphing Winglet

Raffi S. Buchkazanian, Gabriel H. Campos, Fengfeng (Jeff) Xi

J. Mechanisms Robotics. October 2023, 15(5): 054501. doi: https://doi.org/10.1115/1.4055572

Abstract

View articletitled, A Dynamic Loading Mechanism for a Morphing Winglet

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Topics: Design , Dynamic testing (Materials) , Stress , Actuators , Weight (Mass) , Linkages

Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

Sunil Gora, Shakti S. Gupta, Ashish Dutta

J. Mechanisms Robotics. October 2023, 15(5): 054502. doi: https://doi.org/10.1115/1.4055999

Abstract

View articletitled, Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

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Topics: Deformation , Dynamics (Mechanics) , Inertia (Mechanics) , Pendulums , Stiffness , Potential energy , Rotation , Springs , Damping , Dampers

A Reconfigurable 6R Linkage With Six Motion Modes and Three Topological Structures

Yuan Gao, Fufu Yang, Jun Zhang

J. Mechanisms Robotics. October 2023, 15(5): 054503. doi: https://doi.org/10.1115/1.4056081

Abstract

View articletitled, A Reconfigurable 6<em>R</em> Linkage With Six Motion Modes and Three Topological Structures

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Topics: Bifurcation , Kinematics , Linkages , Topology

Design Innovation Paper

Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints

Yifan Huang, Lei Yan, Taiwei Yang, Zhonghua Hu, Wenfu Xu

J. Mechanisms Robotics. October 2023, 15(5): 055001. doi: https://doi.org/10.1115/1.4055934

Abstract

View articletitled, Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints

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Topics: Cables , End effectors , Kinematics , Trajectories (Physics) , Design , Motion control

Erratum

Erratum: “Robotic Tensegrity Structure with a Mechanism Mimicking Human Shoulder Motion” [ASME J. Mech. Rob. 14(2), p. 025001; DOI: 10.1115/1.4052124]

Lengxue Li, Sunhong Kim, Junho Park, Youngjin Choi, Qiang Lu, Dongliang Peng

J. Mechanisms Robotics. October 2023, 15(5): 057001. doi: https://doi.org/10.1115/1.4062763

Extract

View articletitled, Erratum: “Robotic Tensegrity Structure with a Mechanism Mimicking Human Shoulder Motion” [ASME J. Mech. Rob. 14(2), p. 025001; DOI: 10.1115/1.4052124]

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Topics: Robotics , Tensegrity structures

Research Papers

On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm

Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles

Orientation Workspace Analysis and Parameter Optimization of 3-RRPS Parallel Robot for Pelvic Fracture Reduction

Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices

Constructing Three-Dimensional Honeycomb Structures Based on Origami Geometry

Development of a Constant Force Suspended Backpack for Variable Load and Variable Speed Locomotion

Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint

Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting

Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot

Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation

Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone

Thick-Panel Origami Tubes With Hexagonal Cross-Sections

Extensible Continuum Manipulator Toward In-situ Explosive Ordnance Disposal

A Walking Claw for Tethered Object Retrieval

Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips

Multi-Branch Cellular Space Robot Mechanism Design and Climbing Behavior Research

Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles

Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand

Technical Briefs

A Dynamic Loading Mechanism for a Morphing Winglet

Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

A Reconfigurable 6R Linkage With Six Motion Modes and Three Topological Structures

Design Innovation Paper

Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints

Erratum

Erratum: “Robotic Tensegrity Structure with a Mechanism Mimicking Human Shoulder Motion” [ASME J. Mech. Rob. 14(2), p. 025001; DOI: 10.1115/1.4052124]

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