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Keywords: Fixturing
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Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2022, 14(2): 024502.
Paper No: JMR-21-1231
Published Online: September 20, 2021
... 30 08 2021 30 08 2021 20 09 2021 grasping fixturing If needed, humans can hold objects, relocate the fingertips on the surface of the object by rolling or sliding, and subsequently manipulate the objects. The numerous heuristic-based methods used by humans involve fixing...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051002.
Paper No: JMR-18-1330
Published Online: July 8, 2019
... that the deformation of the gripper at the tension force does not change, with which Eq. (5) still works, and Eq. (6) can be expressed as follows: (7) d T = ( − μ 2 π 2 D ′ p ′ 2 T − P 0 μ π D ′ ) d x 1 Corresponding authors. grasping fixturing...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2018, 10(4): 044502.
Paper No: JMR-17-1231
Published Online: May 31, 2018
... Mechanism design Mechanism synthesis Soft robots Fixturing Topology optimization is a numerical method to optimize material layout within a given design domain. The numerical algorithms of topology optimization methods are extensively investigated over the years [ 1 – 7 ]. The first step...
Journal Articles
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2018, 10(4): 045001.
Paper No: JMR-17-1193
Published Online: April 18, 2018
... June 29, 2017; final manuscript received March 2, 2018; published online April 18, 2018. Assoc. Editor: Leila Notash. 29 06 2017 02 03 2018 Grasping Parallel platforms Theoretical kinematics Fixturing Parallel robots are closed-loop mechanisms composed of a moving...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031005.
Paper No: JMR-17-1351
Published Online: March 23, 2018
... the gripper's resolution, its effort is trivial compared to the resulting high complexity and increased cost [ 2 ]. Compliant mechanisms Grasping Mechanism design Fixturing 13 10 2017 21 02 2018 Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J...
Topics: Design, Grippers
Journal Articles
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2018, 10(2): 025006.
Paper No: JMR-17-1323
Published Online: February 5, 2018
... December 14, 2017; published online February 5, 2018. Editor: Venkat Krovi. 24 09 2017 14 12 2017 Flying robots Grasping Mechanism design Robot design Fixturing The types and applications of autonomous unmanned aerial vehicles (UAVs) have proliferated during the last decade...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011004.
Paper No: JMR-17-1133
Published Online: December 20, 2017
..., 2017. Assoc. Editor: Veronica J. Santos. 04 05 2017 15 11 2017 Grasping Prosthetics Fixturing As robotic grasping systems become more versatile and complex, there is a growing need for robust and adaptable methods allowing these grasping devices to interact with objects...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061017.
Paper No: JMR-16-1232
Published Online: October 27, 2017
..., 2016; final manuscript received October 5, 2017; published online October 27, 2017. Editor: Vijay Kumar. 12 08 2016 05 10 2017 Grasping Mechanism design Robot design Soft robots Fixturing The goal with robotic hands is to have them function as universal hands in a human...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061011.
Paper No: JMR-17-1098
Published Online: October 9, 2017
... Manuscript received April 10, 2017; final manuscript received September 14, 2017; published online October 9, 2017. Assoc. Editor: Larry L Howell. 10 04 2017 14 09 2017 Compliant mechanisms Grasping Microscale mechanisms Robotics Fixturing Microelectromechanical systems (MEMS...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051012.
Paper No: JMR-17-1007
Published Online: August 23, 2017
.... Manuscript received January 9, 2017; final manuscript received July 21, 2017; published online August 23, 2017. Assoc. Editor: K. H. Low. 09 01 2017 21 07 2017 Actuators Bio inspired designs Compliant mechanisms Grasping Soft robots Transmissions Fixturing Robotic hands...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051004.
Paper No: JMR-16-1289
Published Online: August 4, 2017
.... , 2008 , “ A Comprehensive Solution of the Classic Burmester Problem ,” CSME Trans. , 32 ( 2 ), pp. 137 – 154 . http://www.tcsme.org/Papers/Vol32/Vol32No2Paper2.pdf Grasping Mechanism design Theoretical kinematics Fixturing Research on underactuated also known as self-adaptive...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041003.
Paper No: JMR-16-1236
Published Online: April 27, 2017
... Actuators Grasping Mechanism design Transmissions Fixturing In robotics, hands and grippers can arguably be the most challenging subsystems to design. Typically, fully actuated fingers are often very complex mechanically and necessitate involving control algorithms. Alternatively, simpler...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031010.
Paper No: JMR-16-1192
Published Online: March 23, 2017
... manuscript received November 29, 2016; published online March 23, 2017. Assoc. Editor: Jun Ueda. 04 07 2016 29 11 2016 Dynamics Grasping Robot design Theoretical kinematics Fixturing This paper studies the collision problem of a robot manipulator and presents a method...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061021.
Paper No: JMR-16-1080
Published Online: October 25, 2016
... is held upside down in a fixture for test grasps and manipulation motions. Figure 15 shows the modifications made to the Model O, an open-source, 3D-printed hand design based on the iHY. The actuated hand used for the experiments incorporates 4 Dynamixel MX-28 servos, 3 of which each drive...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041014.
Paper No: JMR-15-1307
Published Online: March 28, 2016
... design Fixturing The modeling of contacts between fingers and objects has been a recurring theme in robot manipulation [ 1 ]; in fact, contact mechanics is a fairly standard topic not only in multibody abstractions but also in continuum mechanics (see, for instance, Ref. [ 2 ]). In the context...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041012.
Paper No: JMR-15-1114
Published Online: March 16, 2016
.... Manuscript received May 14, 2015; final manuscript received February 13, 2016; published online March 16, 2016. Assoc. Editor: Aaron M. Dollar. 14 05 2015 13 02 2016 Actuators Grasping Mechanism design Transmissions Fixturing One reason why robotic arms experience difficulty...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2016, 8(4): 044502.
Paper No: JMR-15-1083
Published Online: March 7, 2016
...; published online March 7, 2016. Assoc. Editor: Jun Ueda. 06 04 2015 10 12 2015 Bio-inspired design Grasping Mechanism design Mechanism synthesis Prosthetics Fixturing Selection of the number of actuators and the actuation configuration is an important start point for design...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021008.
Paper No: JMR-15-1022
Published Online: November 24, 2015
... the range of its potential applications, including flexible industrial fixtures and deployable tents. The mechanism's basic deployable unit (DU) is assembled by combining a scissor linkage and a Sarrus linkage. The kinematic properties of these two components and of the combined unit are analyzed...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021006.
Paper No: JMR-15-1011
Published Online: November 24, 2015
... 24, 2015. Assoc. Editor: Yuefa Fang. 17 01 2015 08 08 2015 16 08 2015 Grasping Mechanism synthesis Fixturing The topology of an articulated system defines the number and type of joints of the system, their adjacency, and their incidence on the end-effectors...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011020.
Paper No: JMR-15-1026
Published Online: September 25, 2015
... important design constraint. Manuscript received February 5, 2015; final manuscript received July 20, 2015; published online September 25, 2015. Assoc. Editor: Aaron M. Dollar. 05 02 2015 20 07 2015 Control Grasping Haptic devices Mechanism design Soft robots Fixturing...