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Keywords: robot kinematics
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Journal Articles
Article Type: Research Papers
J. Mech. Des. August 2022, 144(8): 083302.
Paper No: MD-21-1202
Published Online: April 8, 2022
... deployable robotic grasper mobility bifurcation kinematic analysis grasping planning design optimization design theory robot design robot kinematics robotic systems National Natural Science Foundation of China 10.13039/501100001809 U1613201 Currently, robotic graspers...
Journal Articles
Article Type: Research Papers
J. Mech. Des. June 2022, 144(6): 063303.
Paper No: MD-21-1224
Published Online: February 15, 2022
... mechanism theory medical and bio design of mechanisms and robotics parallel manipulators parallel robots robot design robot kinematics robotic systems simulation-based design Surgical instruments for robotic assisted minimally invasive surgery (RAMIS) require motion capabilities similar...
Journal Articles
Article Type: Research Papers
J. Mech. Des. June 2022, 144(6): 063305.
Paper No: MD-21-1449
Published Online: February 15, 2022
... Corresponding author. Email: abdullahaamir@sutd.edu.sg Email: yi_lim@mymail.sutd.edu.sg design methodology design of innovative devices design of machine elements design process design theory and methodology mobile robots product development robot design robot kinematics robotic systems...
Journal Articles
Article Type: Research Papers
J. Mech. Des. May 2022, 144(5): 053301.
Paper No: MD-21-1205
Published Online: December 6, 2021
... ankle rehabilitation exoskeleton decoupled motion control dynamical gait exercises computer-aided design conceptual design parallel robots robot design robot kinematics simulation-based design Engineering and Physical Sciences Research Council 10.13039/501100000266 EP/S019790/1...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. September 2021, 143(9): 094501.
Paper No: MD-20-1519
Published Online: March 24, 2021
... kinematic equivalence kinematics linkages mechanism theory robot design robot kinematics Origami, the ancient art of paper-folding, has garnered increasing interest as it involves foldability and reconfigurability, which enables its application in a wide range of technical fields [ 1 – 3...
Journal Articles
Article Type: Research Papers
J. Mech. Des. September 2021, 143(9): 093302.
Paper No: MD-20-1674
Published Online: March 24, 2021
... manipulators robot kinematics This exercise leads to a significant observation that each column of the Jacobian matrix can be extracted from the expression derived for a loop. It becomes the key feature that can be utilized to develop a performance evaluation procedure, given any planar hybrid...
Journal Articles
Article Type: Research Papers
J. Mech. Des. August 2021, 143(8): 083301.
Paper No: MD-20-1506
Published Online: February 5, 2021
...@imperial.ac.uk Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanical D esign . 08 07 2020 08 10 2020 11 10 2020 05 02 2021 parallel robots robot design robot kinematics Shaking forces and moments can...
Journal Articles
Article Type: Research Papers
J. Mech. Des. May 2021, 143(5): 053303.
Paper No: MD-20-1474
Published Online: November 17, 2020
... movements of the modified DLR wrist: ( a ) flex-extension and ( b ) ab-adduction Linkage projected onto x-z and y-z planes and their typical movements of the modified DLR wrist: (a) flex-extension and (b) ab-adduction conceptual design parallel manipulators robot kinematics wrist mechanism...
Journal Articles
Article Type: Research Papers
J. Mech. Des. August 2020, 142(8): 083301.
Paper No: MD-19-1336
Published Online: February 14, 2020
... theory mechanism synthesis parallel robots robot kinematics As the most important end-effectors of robots, dexterous hands play an irreplaceable role in fields, such as industry, medicine, social service, and disaster relief. Dexterous hands have been studied for decades and have always been...
Journal Articles
Article Type: Research Papers
J. Mech. Des. July 2020, 142(7): 073301.
Paper No: MD-19-1512
Published Online: February 14, 2020
... manipulators robot kinematics Cable-driven parallel robot (CDPR) is known as a subclass of the parallel robots whose end-effector is driven by several flexible cables instead of rigid links [ 1 – 3 ]. Compared with traditional rigid-link parallel robots, CDPRs have much smaller inertia and higher...
Journal Articles
Article Type: Technical Briefs
J. Mech. Des. April 2020, 142(4): 044502.
Paper No: MD-19-1204
Published Online: November 4, 2019
... machine theory reliability in design robot kinematics An industrial six-axis robotic manipulator is typically composed of a base, a waist, two arms, a wrist, and an end-effector, which are interconnected by a series of linkages. The positional accuracy of the end-effector is one of the most...
Journal Articles
Article Type: Research Papers
J. Mech. Des. March 2020, 142(3): 031120.
Paper No: MD-19-1451
Published Online: November 1, 2019
... – 1074 . modular snake robots equations of motion pedal wave locomotion adaptive locomotion uneven terrain medical and bio design of mechanisms and robotics mobile robots robot kinematics robotic systems simulation-based design series elastic actuator There are many life forms...
Journal Articles
Article Type: Research-Article
J. Mech. Des. September 2018, 140(9): 092304.
Paper No: MD-17-1521
Published Online: July 3, 2018
... ESIGN . Manuscript received July 31, 2017; final manuscript received April 18, 2018; published online July 3, 2018. Assoc. Editor: Oscar Altuzarra. 31 07 2017 18 04 2018 Mechanism theory Parallel robots Robot design Robot kinematics Parallel manipulators (PMs) have...
Journal Articles
Article Type: Research-Article
J. Mech. Des. June 2017, 139(6): 062303.
Paper No: MD-16-1687
Published Online: April 25, 2017
... ECHANICAL D ESIGN . Manuscript received October 6, 2016; final manuscript received March 16, 2017; published online April 25, 2017. Assoc. Editor: Oscar Altuzarra. 06 10 2016 16 03 2017 Mechanism theory Robot design Robot kinematics Tentaclelike robots are typically referred...
Journal Articles
Article Type: Research-Article
J. Mech. Des. April 2017, 139(4): 042302.
Paper No: MD-16-1501
Published Online: February 8, 2017
... December 21, 2016; published online February 8, 2017. Assoc. Editor: Oscar Altuzarra. 11 07 2016 21 12 2016 Kinematics Parallel manipulators Parallel robots Robot kinematics A parallel mechanism includes multiple actuated kinematic chains, connecting a fixed base and a tool...
Journal Articles
Article Type: Research-Article
J. Mech. Des. January 2017, 139(1): 012304.
Paper No: MD-16-1208
Published Online: November 11, 2016
... Design theory Robot design Robot kinematics Robotic systems Design methodology The design of robotic hand has been further developed for more than three decades. Many influential designs have been generated. The Robonaut 2 Hand [ 1 ] is the first dexterous hand serving in the International...
Journal Articles
Article Type: Research-Article
J. Mech. Des. June 2016, 138(6): 062303.
Paper No: MD-15-1521
Published Online: May 4, 2016
... Design for assembly Design for manufacturing Design methodology Design of multiscale systems Design process Design theory Design theory Kinematics Mechanism synthesis Mechanism theory Micro systems Mobile robots Multidisciplinary design Robot design Robot kinematics Robotic systems...
Journal Articles
Article Type: Research-Article
J. Mech. Des. March 2016, 138(3): 032303.
Paper No: MD-15-1432
Published Online: January 27, 2016
...; published online January 27, 2016. Assoc. Editor: Oscar Altuzarra. 19 06 2015 02 11 2015 Mechanism theory Robot design Robot kinematics Robotic systems The WCC condition is dependent on both the pose of the manipulator and the attachment locations of the cables. For a given set...
Journal Articles
Article Type: Research-Article
J. Mech. Des. December 2015, 137(12): 122302.
Paper No: MD-15-1070
Published Online: October 15, 2015
... zeros. More specifically, the studied example resulted in two points of the joint space where the forward kinematics has a single sextuple solution. Kinematics Manipulator theory Parallel manipulators Parallel robots Robot design Robot kinematics It is well known that many parallel...
Journal Articles
Article Type: Research-Article
J. Mech. Des. August 2015, 137(8): 082301.
Paper No: MD-14-1581
Published Online: August 1, 2015
... with the optimal parameter decreases by 23.2%. The unified kinematics analysis and low-velocity driving optimization effectively improve the performance for the PHJM and enrich the optimization theory for parallel manipulators with high velocities and given tasks. Parallel manipulators Robot kinematics...