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Journal Articles

Mechanical Characterization of Compliant Cellular Robots. Part I: Passive Stiffness

Gaurav Singh, Ahsan Nawroj, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021012.
Paper No: JMR-21-1510
DOI: https://doi.org/10.1115/1.4054615
Published Online: June 23, 2022
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Topics: Actuators, Design, Poisson ratio, Robots, Shear modulus, Stiffness, Topology, Young's modulus, Materials properties, Robotics
Journal Articles

Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain

Gaurav Singh, Ahsan Nawroj, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021013.
Paper No: JMR-21-1511
DOI: https://doi.org/10.1115/1.4054613
Published Online: June 23, 2022
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Topics: Actuators, Deformation, Finite element analysis, Robots, Topology, Design, Stiffness, Shapes
Proceedings Papers

Design of a Large Workspace Passive Spherical Joint via Contact Edge Design

Neil M. Bajaj, Aaron M. Dollar
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A035, August 17–19, 2020
Paper No: DETC2020-22753
DOI: https://doi.org/10.1115/DETC2020-22753
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Topics: Design, Geometry, Engineering prototypes, Friction, Kinematics, Redundancy (Engineering)
Proceedings Papers

Kinematic Optimization of a 2-DOF U, 2 P SS Parallel Wrist Device

Neil M. Bajaj, Aaron M. Dollar
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A027, August 18–21, 2019
Paper No: DETC2019-98108
DOI: https://doi.org/10.1115/DETC2019-98108
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Topics: Design, Kinematics, Optimization
Proceedings Papers

Analysis and Dimensional Synthesis of a Robotic Hand Based on the Stewart-Gough Platform

Connor M. McCann, Aaron M. Dollar
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A048, August 26–29, 2018
Paper No: DETC2018-86149
DOI: https://doi.org/10.1115/DETC2018-86149
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Topics: End effectors, Kinematics, Design, Manipulators, Robotics, Stability, Weight (Mass)
Journal Articles

A Prismatic-Revolute-Revolute Joint Hand for Grasping From Unmanned Aerial Vehicles and Other Minimally Constrained Vehicles

Spencer B. Backus, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2018, 10(2): 025006.
Paper No: JMR-17-1323
DOI: https://doi.org/10.1115/1.4038975
Published Online: February 5, 2018
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Topics: Design, Grasping, Vehicles, Grippers, Unmanned aerial vehicles, Kinematics
Proceedings Papers

Design Optimization of a Prismatic-Revolute-Revolute Joint Hand for Grasping From Unconstrained Vehicles

Spencer B. Backus, Aaron M. Dollar
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A002, August 6–9, 2017
Paper No: DETC2017-67222
DOI: https://doi.org/10.1115/DETC2017-67222
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Topics: Design, Grasping, Optimization, Vehicles, Engineering prototypes, Grippers, Kinematics, Uncertainty, Unmanned aerial vehicles
Proceedings Papers

Fusion Clutch: A Bi-Stable Latching Mechanism for Human-Safe Robots

Jillian C. Cochran, Jimin Hong, Aaron M. Dollar
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A029, August 6–9, 2017
Paper No: DETC2017-68280
DOI: https://doi.org/10.1115/DETC2017-68280
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Topics: Robots, Actuators, Collisions (Physics), Biomedicine, Brakes, Gravity (Force), Impulse (Physics), Manufacturing, Robotics, Safety
Journal Articles

Reconfigurable Modular Chain: A Reversible Material for Folding Three-Dimensional Lattice Structures

Zhe Xu, Connor McCann, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2017, 9(2): 025002.
Paper No: JMR-16-1298
DOI: https://doi.org/10.1115/1.4035863
Published Online: March 9, 2017
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Topics: Chain, Design, Robots, Shapes, Manufacturing, Mechanical properties
Proceedings Papers

Design of a Reconfigurable Modular Chain for Folding 3D Lattice Structures

Zhe Xu, Connor McCann, Aaron M. Dollar
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A054, August 21–24, 2016
Paper No: DETC2016-59496
DOI: https://doi.org/10.1115/DETC2016-59496
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Topics: Chain, Design, Shapes, Diamonds, Engineering prototypes, Engineering systems and industry applications, Geometry, Magnets, Robots, Space frame structures
Proceedings Papers

In-Hand Manipulation Primitives for a Minimal, Underactuated Gripper With Active Surfaces

Raymond R. Ma, Aaron M. Dollar
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A072, August 21–24, 2016
Paper No: DETC2016-60354
DOI: https://doi.org/10.1115/DETC2016-60354
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Topics: Grippers, Belts, Conveyor systems, Design, Geometry, Rollers, Stability
Journal Articles

Spherical Hands: Toward Underactuated, In-Hand Manipulation Invariant to Object Size and Grasp Location

Raymond R. Ma, Nicolas Rojas, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061021.
Paper No: JMR-16-1080
DOI: https://doi.org/10.1115/1.4034787
Published Online: October 25, 2016
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Topics: Design, Kinematics, Grasping, Displacement, Rotation, Stability, Geometry
Journal Articles

Classification and Kinematic Equivalents of Contact Types for Fingertip-Based Robot Hand Manipulation

Nicolas Rojas, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041014.
Paper No: JMR-15-1307
DOI: https://doi.org/10.1115/1.4032865
Published Online: March 28, 2016
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Topics: Kinematics, Friction
Proceedings Papers

Design of a Passively-Adaptive Three Degree-of-Freedom Multi-Legged Robot With Underactuated Legs

Oren Y. Kanner, Nicolás Rojas, Aaron M. Dollar
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A062, August 2–5, 2015
Paper No: DETC2015-47867
DOI: https://doi.org/10.1115/DETC2015-47867
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Topics: Degrees of freedom, Design, Robots, Propulsion, Actuators, Clearances (Engineering), Engineering prototypes, Mechanical admittance, Simulation results, Surface roughness
Journal Articles

Design for Control of Wheeled Inverted Pendulum Platforms

Hari Vasudevan, Aaron M. Dollar, John B. Morrell
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041005.
Paper No: JMR-13-1162
DOI: https://doi.org/10.1115/1.4029401
Published Online: November 1, 2015
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Topics: Design, Limit cycles, Motors, Simulation, Tires, Wheels, Pendulums, Damping, Torque
Journal Articles

The Coupler Surface of the RSRS Mechanism

Nicolas Rojas, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 014505.
Paper No: JMR-15-1036
DOI: https://doi.org/10.1115/1.4030776
Published Online: August 18, 2015
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Topics: Algebra, Design, Kinematics, Linkages, Topology, Robotics, Degrees of freedom
Journal Articles

Special Issue: Fabrication of Fully Integrated Robotic Mechanisms

Aaron M. Dollar, Kyu-Jin Cho, Ronald S. Fearing, Yong-Lae Park
Journal: Journal of Mechanisms and Robotics
Article Type: Editorial
J. Mechanisms Robotics. May 2015, 7(2): 020201.
Paper No: JMR-15-1008
DOI: https://doi.org/10.1115/1.4029640
Published Online: May 1, 2015
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Topics: Manufacturing, Robotics
Journal Articles

Hybrid Deposition Manufacturing: Design Strategies for Multimaterial Mechanisms Via Three-Dimensional Printing and Material Deposition

Raymond R. Ma, Joseph T. Belter, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021002.
Paper No: JMR-14-1192
DOI: https://doi.org/10.1115/1.4029400
Published Online: May 1, 2015
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Topics: Additive manufacturing, Design, Manufacturing, Cavities, Resins, Urethane elastomers
Journal Articles

Printing Three-Dimensional Electrical Traces in Additive Manufactured Parts for Injection of Low Melting Temperature Metals

John P. Swensen, Lael U. Odhner, Brandon Araki, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021004.
Paper No: JMR-14-1236
DOI: https://doi.org/10.1115/1.4029435
Published Online: May 1, 2015
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Topics: Additive manufacturing, Circuits, Liquid metals, Metals, Printing, Flow (Dynamics), Design
Proceedings Papers

Development of Active-Cells for Macroscopically Deformable Structures

Ahsan I. Nawroj, John P. Swensen, Aaron M. Dollar
Proc. ASME. SMASIS2014, Volume 2: Mechanics and Behavior of Active Materials; Integrated System Design and Implementation; Bioinspired Smart Materials and Systems; Energy Harvesting, V002T04A003, September 8–10, 2014
Paper No: SMASIS2014-7448
DOI: https://doi.org/10.1115/SMASIS2014-7448
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Topics: Composite materials, Deformation, Electric current, Engineering prototypes, Glass reinforced plastics, Manufacturing, Shapes, Springs