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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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021012.
Paper No: JMR-21-1510
https://doi.org/10.1115/1.4054615
Published Online: June 23, 2022
View Article titled, Mechanical Characterization of Compliant Cellular Robots. Part I: Passive Stiffness
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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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021013.
Paper No: JMR-21-1511
https://doi.org/10.1115/1.4054613
Published Online: June 23, 2022
View Article titled, Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22753
https://doi.org/10.1115/DETC2020-22753
View Paper titled, Design of a Large Workspace Passive Spherical Joint via Contact Edge Design
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98108
https://doi.org/10.1115/DETC2019-98108
View Paper titled, Kinematic Optimization of a 2-DOF U, 2 P SS Parallel Wrist Device
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86149
https://doi.org/10.1115/DETC2018-86149
View Paper titled, Analysis and Dimensional Synthesis of a Robotic Hand Based on the Stewart-Gough Platform
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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
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2018, 10(2): 025006.
Paper No: JMR-17-1323
https://doi.org/10.1115/1.4038975
Published Online: February 5, 2018
View Article titled, A Prismatic-Revolute-Revolute Joint Hand for Grasping From Unmanned Aerial Vehicles and Other Minimally Constrained Vehicles
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67222
https://doi.org/10.1115/DETC2017-67222
View Paper titled, Design Optimization of a Prismatic-Revolute-Revolute Joint Hand for Grasping From Unconstrained Vehicles
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68280
https://doi.org/10.1115/DETC2017-68280
View Paper titled, Fusion Clutch: A Bi-Stable Latching Mechanism for Human-Safe Robots
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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
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2017, 9(2): 025002.
Paper No: JMR-16-1298
https://doi.org/10.1115/1.4035863
Published Online: March 9, 2017
View Article titled, Reconfigurable Modular Chain: A Reversible Material for Folding Three-Dimensional Lattice Structures
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59496
https://doi.org/10.1115/DETC2016-59496
View Paper titled, Design of a Reconfigurable Modular Chain for Folding 3D Lattice Structures
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60354
https://doi.org/10.1115/DETC2016-60354
View Paper titled, In-Hand Manipulation Primitives for a Minimal, Underactuated Gripper With Active Surfaces
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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
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061021.
Paper No: JMR-16-1080
https://doi.org/10.1115/1.4034787
Published Online: October 25, 2016
View Article titled, Spherical Hands: Toward Underactuated, In-Hand Manipulation Invariant to Object Size and Grasp Location
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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
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041014.
Paper No: JMR-15-1307
https://doi.org/10.1115/1.4032865
Published Online: March 28, 2016
View Article titled, Classification and Kinematic Equivalents of Contact Types for Fingertip-Based Robot Hand Manipulation
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47867
https://doi.org/10.1115/DETC2015-47867
View Paper titled, Design of a Passively-Adaptive Three Degree-of-Freedom Multi-Legged Robot With Underactuated Legs
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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
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041005.
Paper No: JMR-13-1162
https://doi.org/10.1115/1.4029401
Published Online: November 1, 2015
View Article titled, Design for Control of Wheeled Inverted Pendulum Platforms
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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
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 014505.
Paper No: JMR-15-1036
https://doi.org/10.1115/1.4030776
Published Online: August 18, 2015
View Article titled, The Coupler Surface of the RSRS Mechanism
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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
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics. May 2015, 7(2): 020201.
Paper No: JMR-15-1008
https://doi.org/10.1115/1.4029640
Published Online: May 1, 2015
View Article titled, Special Issue: Fabrication of Fully Integrated Robotic Mechanisms
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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
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021002.
Paper No: JMR-14-1192
https://doi.org/10.1115/1.4029400
Published Online: May 1, 2015
View Article titled, Hybrid Deposition Manufacturing: Design Strategies for Multimaterial Mechanisms Via Three-Dimensional Printing and Material Deposition
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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
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021004.
Paper No: JMR-14-1236
https://doi.org/10.1115/1.4029435
Published Online: May 1, 2015
View Article titled, Printing Three-Dimensional Electrical Traces in Additive Manufactured Parts for Injection of Low Melting Temperature Metals
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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
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2014-7448
https://doi.org/10.1115/SMASIS2014-7448
View Paper titled, Development of Active-Cells for Macroscopically Deformable Structures
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Topics: Composite materials, Deformation, Electric current, Engineering prototypes, Glass reinforced plastics, Manufacturing, Shapes, Springs