Volume 15 Issue 2 | J. Mechanisms Robotics

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Editorial

Reviewer’s Recognition

J. Mechanisms Robotics. April 2023, 15(2): 020201. doi: https://doi.org/10.1115/1.4056758

Extract

View articletitled, Reviewer’s Recognition

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Topics: Non-governmental organizations , Robotics

Review Article

A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective

Shantanu Thakar, Srivatsan Srinivasan, Sarah Al-Hussaini, Prahar M. Bhatt, Pradeep Rajendran, Yeo Jung Yoon, Neel Dhanaraj, Rishi K. Malhan, Matthias Schmid, Venkat N. Krovi, Satyandra K. Gupta

J. Mechanisms Robotics. April 2023, 15(2): 020801. doi: https://doi.org/10.1115/1.4054611

Abstract

View articletitled, A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective

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Topics: Manipulators , Robots , Path planning , Decision making

Research Papers

Three Degrees of Freedom-Based Master–Slave Uterine Manipulation Robot System for Laparoscopic Hysterectomy

Van Sy Nguyen, Bohyun Hwang, Sangmin Lee, Sooyoung Kim, Byungkyu Kim

J. Mechanisms Robotics. April 2023, 15(2): 021001. doi: https://doi.org/10.1115/1.4054608

Abstract

View articletitled, Three Degrees of Freedom-Based Master–Slave Uterine Manipulation Robot System for Laparoscopic Hysterectomy

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Topics: Design , Manipulators , Robots , Simulation , Stress , Kinematics , Actuators , Cancer , Servomechanisms

Design, Analysis, and Experiment of an Underactuated Robotic Gripper Actuated by Linear Series Elastic Actuator

Hongliang Hua, Zhenqiang Liao, Jingbo Zhao

J. Mechanisms Robotics. April 2023, 15(2): 021002. doi: https://doi.org/10.1115/1.4054609

Abstract

View articletitled, Design, Analysis, and Experiment of an Underactuated Robotic Gripper Actuated by Linear Series Elastic Actuator

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Topics: Grasping , End effectors

Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot

Zhongmou Li, Vincent Bégoc, Abdelhamid Chriette, Isabelle Fantoni

J. Mechanisms Robotics. April 2023, 15(2): 021003. doi: https://doi.org/10.1115/1.4054610

Abstract

View articletitled, Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot

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Topics: Control equipment , Grasping , Grippers , Robots , Unmanned aerial vehicles , Yaw , Torque , Thrust

Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform

Bahman Nouri Rahmat Abadi, Juan A. Carretero

J. Mechanisms Robotics. April 2023, 15(2): 021004. doi: https://doi.org/10.1115/1.4054614

Abstract

View articletitled, Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform

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Topics: Actuators , Grasping , Kinematics , Parallel mechanisms , Path planning , Redundancy (Engineering) , Trajectories (Physics) , Kinematic analysis , Artificial neural networks

Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

Jun Wu, Jiahao Qiu, Hao Ye

J. Mechanisms Robotics. April 2023, 15(2): 021005. doi: https://doi.org/10.1115/1.4054618

Abstract

View articletitled, Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

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Topics: Actuators , Manipulators , Optimization , Torque , Redundant manipulators , Dynamic models , Trajectories (Physics)

Automatic Design of Dielectric Elastomer-Based Crawling Robots Using Shape and Topology Optimization

Bicheng Chen, Nianfeng Wang, Rixin Wang, Benliang Zhu, Xianmin Zhang, Wenjie Sun, Wei Chen

J. Mechanisms Robotics. April 2023, 15(2): 021006. doi: https://doi.org/10.1115/1.4054642

Abstract

View articletitled, Automatic Design of Dielectric Elastomer-Based Crawling Robots Using Shape and Topology Optimization

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Topics: Deformation , Design , Elastomers , Optimization , Robots , Shapes , Topology , Actuators , Finite element analysis , B-splines

Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion

Inseung Kang, Reese R. Peterson, Kinsey R. Herrin, Anirban Mazumdar, Aaron J. Young

J. Mechanisms Robotics. April 2023, 15(2): 021007. doi: https://doi.org/10.1115/1.4054724

Abstract

View articletitled, Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion

Supplementary data

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Topics: Actuators , Design , Exoskeleton devices , Seas , Torque , Control equipment , Feedforward control , Motors

A Structural Optimization Framework to Design Compliant Constant Force Mechanisms With Large Energy Storage

Haihua Ou, Haiping Yi, Zeeshan Qaiser, Tanzeel Ur Rehman, Shane Johnson

J. Mechanisms Robotics. April 2023, 15(2): 021008. doi: https://doi.org/10.1115/1.4054766

Abstract

View articletitled, A Structural Optimization Framework to Design Compliant Constant Force Mechanisms With Large Energy Storage

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Topics: Design , Displacement , Energy storage , Structural optimization , Topology , Stress , Shape optimization

Stiffness Modulation of a Cable-Driven Serial-Chain Manipulator Via Cable Routing Alteration

N. S. S. Sanjeevi, Vineet Vashista

J. Mechanisms Robotics. April 2023, 15(2): 021009. doi: https://doi.org/10.1115/1.4054612

Abstract

View articletitled, Stiffness Modulation of a Cable-Driven Serial-Chain Manipulator Via Cable Routing Alteration

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Topics: Cables , Stiffness , Manipulators

Design and Characterization of a Hollow and Duplex-Chambered Propulsion Module for Narrow Pipe Inspection

Tomonari Yamamoto, Akiya Kamimura

J. Mechanisms Robotics. April 2023, 15(2): 021010. doi: https://doi.org/10.1115/1.4054765

Abstract

View articletitled, Design and Characterization of a Hollow and Duplex-Chambered Propulsion Module for Narrow Pipe Inspection

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Topics: Design , Elongation , Endoscopes , Inspection , Pipes , Pressure , Propulsion , Engineering prototypes

Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations

Koen Dwarshuis, Ronald Aarts, Marcel Ellenbroek, Dannis Brouwer

J. Mechanisms Robotics. April 2023, 15(2): 021011. doi: https://doi.org/10.1115/1.4054730

Abstract

View articletitled, Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations

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Topics: Bending (Stress) , Computation , Deformation , Design , Stiffness , Dimensions , Errors , Stress , Approximation

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

Gaurav Singh, Ahsan Nawroj, Aaron M. Dollar

J. Mechanisms Robotics. April 2023, 15(2): 021012. doi: https://doi.org/10.1115/1.4054615

Abstract

View articletitled, 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

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

Gaurav Singh, Ahsan Nawroj, Aaron M. Dollar

J. Mechanisms Robotics. April 2023, 15(2): 021013. doi: https://doi.org/10.1115/1.4054613

Abstract

View articletitled, 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

Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs

Xiao Li, Haibo Qu, Sheng Guo

J. Mechanisms Robotics. April 2023, 15(2): 021014. doi: https://doi.org/10.1115/1.4054767

Abstract

View articletitled, Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs

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Topics: Kinematics , Parallel mechanisms , Reactor protection systems , Load bearing capacity , Jacobian matrices , Manipulators , Design

Robust Design and Evaluation of a Novel Modular Origami-Enabled Mobile Robot (OSCAR)

Oyuna Angatkina, Andrew G. Alleyne, Aimy Wissa

J. Mechanisms Robotics. April 2023, 15(2): 021015. doi: https://doi.org/10.1115/1.4054361

Abstract

View articletitled, Robust Design and Evaluation of a Novel Modular Origami-Enabled Mobile Robot (OSCAR)

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Topics: Design , Robots , Uncertainty , Manufacturing , Cycles

Technical Brief

Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase

Chenyang Zhang, Guangrong Chen, Zijia Li, Xiaohang Qiu, Sheng Guo

J. Mechanisms Robotics. April 2023, 15(2): 024501. doi: https://doi.org/10.1115/1.4054616

Abstract

View articletitled, Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase

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Topics: Vehicles , Wheelbase , Design , Wheels , Steering wheels , Simulation , Kinematics

Design Innovation Paper

Design of Adjustable Constant Force/Torque Mechanisms for Medical Applications

Zhuoqi Cheng, Thiusius Rajeeth Savarimuthu, Shaohui Foong, U-Xuan Tan

J. Mechanisms Robotics. April 2023, 15(2): 025001. doi: https://doi.org/10.1115/1.4054638

Abstract

View articletitled, Design of Adjustable Constant Force/Torque Mechanisms for Medical Applications

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Topics: Biomedicine , Design , Displacement , Optimization , Springs , Stiffness , Stress , Torque , Shapes

Erratum

Erratum: “Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions” [ASME J. Mech. Rob., 14(2), p. 021011; DOI: 10.1115/1.4052336]

Shaoping Bai, Zhongyi Li, Jorge Angeles

J. Mechanisms Robotics. April 2023, 15(2): 027001. doi: https://doi.org/10.1115/1.4054617

Extract

View articletitled, Erratum: “Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions” [ASME J. Mech. Rob., 14(2), p. 021011; DOI: 10.1115/1.4052336]

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Topics: Linkages

Editorial

Reviewer’s Recognition

Review Article

A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective

Research Papers

Three Degrees of Freedom-Based Master–Slave Uterine Manipulation Robot System for Laparoscopic Hysterectomy

Design, Analysis, and Experiment of an Underactuated Robotic Gripper Actuated by Linear Series Elastic Actuator

Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot

Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform

Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

Automatic Design of Dielectric Elastomer-Based Crawling Robots Using Shape and Topology Optimization

Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion

A Structural Optimization Framework to Design Compliant Constant Force Mechanisms With Large Energy Storage

Stiffness Modulation of a Cable-Driven Serial-Chain Manipulator Via Cable Routing Alteration

Design and Characterization of a Hollow and Duplex-Chambered Propulsion Module for Narrow Pipe Inspection

Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations

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

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

Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs

Robust Design and Evaluation of a Novel Modular Origami-Enabled Mobile Robot (OSCAR)

Technical Brief

Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase

Design Innovation Paper

Design of Adjustable Constant Force/Torque Mechanisms for Medical Applications

Erratum

Erratum: “Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions” [ASME J. Mech. Rob., 14(2), p. 021011; DOI: 10.1115/1.4052336]

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