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Keywords: actuators
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Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061007.
Paper No: JMR-18-1064
Published Online: September 17, 2018
... an origami-based mechanism (Oriceps) and is verified with experimental data from magnetic actuation of the mechanism. National Science Foundation and the Air Force Office of Scientific Research through NSF Grant No. EFRI-ODISSEI...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061005.
Paper No: JMR-17-1383
Published Online: September 17, 2018
... , “ Worm-Like Robotic Locomotion With a Compliant Modular Mesh ,” Conference on Biomimetic and Biohybrid Systems , Barcelona, Spain , pp. 26 – 37 . [9] Seok , S. , Onal , C. D. , Wood , R. , Rus , D. , and Kim , S. , 2010 , “ Peristaltic Locomotion With Antagonistic Actuators...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051001.
Paper No: JMR-17-1184
Published Online: June 27, 2018
... optimal radius for the equitetrabeam and the BC helix. This minimax optimum of this simpler approach was at most 1% worse than the optimum computed by Eq. (27) . Actuators Bio inspired designs Mechanism design Mechanism synthesis Robot design Transmissions Fig. 1 BC helix close-up...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2018, 10(4): 041010.
Paper No: JMR-17-1385
Published Online: May 31, 2018
... , “ Tendon-Driven Manipulator Actuated by Magnetorheological Clutches Exhibiting Both High-Power and Soft Motion Capabilities ,” IEEE/ASME Trans. Mechatronics , 22 ( 1 ), pp. 561 – 571 . 10.1109/TMECH.2016.2605379 [31] Merlet , J. P. , 1999 , “ Parallel Robot: Open Problems ,” 9th International...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031014.
Paper No: JMR-17-1141
Published Online: April 26, 2018
... matrix reduces the sum of square power (SSP) exerted by the actuators by up to 47%, the peak power requirement by almost 40%, the sum of squared current by 55%, and the peak current by 55%. These results were generated using a planar robot limb and a gait trajectory borrowed from biology. We use a fully...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031008.
Paper No: JMR-17-1063
Published Online: April 5, 2018
...Yevgeniy Yesilevskiy; Zhenyu Gan; C. David Remy In this paper, we examine the question of whether parallel elastic actuation or series elastic actuation is better suited for hopping robots. To this end, we compare and contrast the two actuation concepts in energy optimal hopping motions. To enable...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021002.
Paper No: JMR-17-1309
Published Online: January 29, 2018
...Chawin Ophaswongse; Rosemarie C. Murray; Sunil K. Agrawal This paper proposes a novel method for analyzing linear series elastic actuators (SEAs) in a parallel-actuated Stewart platform, which has full six degrees-of-freedom (DOF) in position and orientation. SEAs can potentially provide a better...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011009.
Paper No: JMR-17-1138
Published Online: December 22, 2017
...Florian Stuhlenmiller; Jochen Schuy; Philipp Beckerle This paper proposes a probabilistic approach for the design of elastic elements to be used in structure-controlled variable stiffness actuators (VSA) for robotic applications. Considering the natural dynamics of the elastic actuation system...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011011.
Paper No: JMR-17-1217
Published Online: December 22, 2017
...Wei Li; Jorge Angeles The subject of this paper is twofold: the kinematics and the isotropic design of six degrees-of-freedom (DOF), three- C CC parallel-kinematics machines (PKMs). Upon proper embodiment and dimensioning, the PKMs discussed here, with all actuators mounted on the base, exhibit...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061003.
Paper No: JMR-16-1260
Published Online: September 18, 2017
... van Economische Zaken (Grant No. KWR09086). Actuators Mechanism design Mechanism synthesis Transmissions Table 1 Transmission ratio of the four concept variations given in Fig. 4 , where gear 3 and 4 are noncircular gears Concept Transmission ratio ω out / ω...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061002.
Paper No: JMR-17-1022
Published Online: September 6, 2017
...Elias Brassitos; Nader Jalili Space robots require compact joint drive systems (JDSs), typically comprising of actuator, transmission, joint elements that can deliver high torques through stiff mechanical ports. Today's conventional space drive systems are made from off-the-shelf actuators and...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051012.
Paper No: JMR-17-1007
Published Online: August 23, 2017
...Michael J. Martell; J. C. Díaz; Joshua A. Schultz This paper presents a framework based on multiport network theory for modeling underactuated grippers where the actuators produce finger motion by deforming an elastic transmission mechanism. If the transmission is synthesized from compliant...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051009.
Paper No: JMR-16-1382
Published Online: August 8, 2017
... requirements set. The dotted lines show the torque-deflection curves at the minimum and the maximum stiffness setpoint. The black dashed line shows the requirement envelope. Actuators Compliant mechanisms Mechanism design Robot design Wearable robots Multi-body dynamics Exoskelotons...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051003.
Paper No: JMR-16-1286
Published Online: August 4, 2017
... the singularity condition. This approach is also applicable to a large number of parallel robots whose six actuation wrench axes intersect pairwise, such as all three-limb parallel robots whose limbs include, each, a passive spherical joint. The workspace is analyzed via a geometric method, while the...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051007.
Paper No: JMR-17-1020
Published Online: August 4, 2017
..., important considerations in the synthesis and design of the actuators remained to be addressed. These include design requirements such as aerodynamic behavior of the spinning flywheel, induced dynamics by the wearer's motion, and stresses in the inner components due to the generated gyroscopic moment. In...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041017.
Paper No: JMR-16-1164
Published Online: June 14, 2017
.... Manuscript received June 6, 2016; final manuscript received April 18, 2017; published online June 14, 2017. Assoc. Editor: Yuefa Fang. 1 Corresponding author. Actuators Parallel platforms Theoretical kinematics Transmissions Fig. 1 Full mobility planar parallel mechanism Fig. 2...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041019.
Paper No: JMR-16-1342
Published Online: June 14, 2017
...Anzhu Gao; Yun Zou; Zhidong Wang; Hao Liu Continuum robots present the great dexterity and compliance as dexterous manipulators to accomplish complex positioning tasks in confined anatomy during minimally invasive surgery. Tendon actuation is one of the most popular approaches, which is to insert...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041014.
Paper No: JMR-16-1211
Published Online: May 23, 2017
...Dion Hicks; Taufiq Rahman; Nicholas Krouglicof Voice coil actuators (VCAs) are simple electro-mechanical devices, which are capable of generating linear motion in response to an electrical input. The generic cylindrical design of commercially available actuators imposes a large variety of...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041012.
Paper No: JMR-16-1344
Published Online: May 17, 2017
... developed since Brockett's original work on the subject. As far as the actuation is concerned, the embedded tendon and fluidic actuation are modeled within the same screw-based framework, and the screw-system to which they belong is shown. Furthermore, the active and passive motion subspaces are clearly...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041005.
Paper No: JMR-16-1214
Published Online: May 2, 2017
...Marco Salerno; Amir Firouzeh; Jamie Paik Thin foldable origami mechanisms allow reconfiguration of complex structures with large volumetric change, versatility, and at low cost; however, there is rarely a systematic way to make them autonomously actuated due to the lack of low profile actuators...