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Journal Articles

kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries

Marios Vasileiou, Nikolaos Manos, Nikos Vasilopoulos, Anastasia Douma, Ergina Kavallieratou
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041003.
Paper No: JMR-23-1169
DOI: https://doi.org/10.1115/1.4062355
Published Online: May 2, 2023
View Article titled, kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries
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Topics: Additive manufacturing, Autonomous underwater vehicles, Design, Flow simulation, Inspection, Mechanical admittance, Underwater vehicles, Vehicles, Robots, Navigation
Journal Articles

Design of Decoupled and Dynamically Isotropic Parallel Manipulators Considering Five Degrees-of-Freedom

Yogesh Pratap Singh, Nazeer Ahmad, Ashitava Ghosal
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011009.
Paper No: JMR-22-1492
DOI: https://doi.org/10.1115/1.4062176
Published Online: April 10, 2023
View Article titled, Design of Decoupled and Dynamically Isotropic Parallel Manipulators Considering Five Degrees-of-Freedom
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Topics: Design, Manipulators, Isotropy, Degrees of freedom
Journal Articles

Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop

Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031008.
Paper No: JMR-22-1128
DOI: https://doi.org/10.1115/1.4062212
Published Online: April 10, 2023
View Article titled, Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
Click here to open pdf in another window PDF for Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
Topics: Control equipment, Degrees of freedom, Design, Dynamics (Mechanics), Feedforward control, Manipulators, Muscle, Pressure, Robots, Valves
Journal Articles

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms

Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021001.
Paper No: JMR-22-1290
DOI: https://doi.org/10.1115/1.4056600
Published Online: March 3, 2023
View Article titled, Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
Click here to open pdf in another window PDF for Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
Topics: Design, Springs, Torque, Wire, Degrees of freedom, Friction, Cams
Journal Articles

Origami Claw Tessellation and Its Stacked Structure

David Xing, Zhong You
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011001.
Paper No: JMR-22-1504
DOI: https://doi.org/10.1115/1.4056828
Published Online: February 21, 2023
View Article titled, Origami Claw Tessellation and Its Stacked Structure
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Topics: Degrees of freedom, Metamaterials, Design, Numerical analysis, Linkages, Kinematics, Manufacturing
Journal Articles

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064502.
Paper No: JMR-22-1356
DOI: https://doi.org/10.1115/1.4056502
Published Online: January 23, 2023
View Article titled, Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
Click here to open pdf in another window PDF for Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
Topics: Cables, Calibration, Degrees of freedom, Design, Laparoscopic devices, Robotics, Robots, Surgery, Motion control, Finite element analysis
Journal Articles

Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures

Jianguo Cai, Qiuyue Zhong, Xiaohui Zhang, Kexin Wang, Qian Zhang, Jian Feng
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061015.
Paper No: JMR-22-1402
DOI: https://doi.org/10.1115/1.4056576
Published Online: January 23, 2023
View Article titled, Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures
Click here to open pdf in another window PDF for Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures
Topics: Bifurcation, Kinematics, Mechanical admittance, Plates (structures), Degrees of freedom, Jacobian matrices, Trajectories (Physics)
Journal Articles

Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices

Anandaroop Lahiri, Phanisri P. Pratapa
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051004.
Paper No: JMR-22-1305
DOI: https://doi.org/10.1115/1.4055742
Published Online: November 24, 2022
View Article titled, Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices
Click here to open pdf in another window PDF for Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices
Topics: Deformation, Degrees of freedom, Equilibrium (Physics), Stiffness, Modeling, Displacement
Journal Articles

Actuation Arrangement of Rigid Foldable Waterbomb Origami

Sen Wang, Dongbo Liang, Hailin Huang, Bing Li, Rongqiang Liu, Fengfeng Xi
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2022, 14(6): 064501.
Paper No: JMR-21-1554
DOI: https://doi.org/10.1115/1.4055059
Published Online: September 12, 2022
View Article titled, Actuation Arrangement of Rigid Foldable Waterbomb Origami
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Topics: Degrees of freedom, Kinematics, Simulation, Computer software, Design
Journal Articles

A Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator

Sicong Liu, Jianhui Liu, Kehan Zou, Xiaocheng Wang, Zhonggui Fang, Juan Yi, Zheng Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2022, 14(6): 060912.
Paper No: JMR-21-1722
DOI: https://doi.org/10.1115/1.4054731
Published Online: June 21, 2022
View Article titled, A Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator
Click here to open pdf in another window PDF for A Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator
Topics: Actuators, Design, Kinematics, Manipulators, Manufacturing, Robotics, Simulation, Rotation, Mechanical admittance, Elongation
Journal Articles

Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept

Jorge Esteban Salas Gordoniz, Nicolas Reeves, David St-Onge
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041004.
Paper No: JMR-21-1536
DOI: https://doi.org/10.1115/1.4053926
Published Online: March 7, 2022
View Article titled, Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept
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Topics: Design, Drag (Fluid dynamics), Dynamics (Mechanics), Exoskeleton devices, Yaw, Simulation, Equations of motion, Shapes, Kinematics, Buoyancy
Journal Articles

Robotic Tensegrity Structure With a Mechanism Mimicking Human Shoulder Motion

Lengxue Li, Sunhong Kim, Junho Park, Youngjin Choi, Qiang Lu, Dongliang Peng
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2022, 14(2): 025001.
Paper No: JMR-21-1197
DOI: https://doi.org/10.1115/1.4052124
Published Online: September 23, 2021
View Article titled, Robotic Tensegrity Structure With a Mechanism Mimicking Human Shoulder Motion
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Topics: Cables, Robotics, Tensegrity structures, Tensegrity, Degrees of freedom, Motors, Rotation, Design, String, Trajectories (Physics)
Journal Articles

Vision-Based Control of a Mobile Manipulator With an Adaptable-Passive Suspension for Unstructured Environments

Antonio Cardenas, Osmar Quiroz, Ricardo Hernández, Hugo I. Medellin-Castillo, Alejandro González, Mauro Maya, Davide Piovesan
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050908.
Paper No: JMR-21-1042
DOI: https://doi.org/10.1115/1.4051437
Published Online: July 6, 2021
View Article titled, Vision-Based Control of a Mobile Manipulator With an Adaptable-Passive Suspension for Unstructured Environments
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Topics: Kinematics, Manipulators, Mobile robots, Robots, Trajectories (Physics), Wheels, Pallets, Degrees of freedom, Robotics
Journal Articles

Actuation and Motion Control of Flexible Robots: Small Deformation Problem

Ahmed A. Shabana, Zhengfeng Bai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011002.
Paper No: JMR-20-1603
DOI: https://doi.org/10.1115/1.4051438
Published Online: July 5, 2021
View Article titled, Actuation and Motion Control of Flexible Robots: Small Deformation Problem
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Topics: Deformation, Dynamics (Mechanics), Robots, Algebra, Motion control, Degrees of freedom, Piezoelectric actuators, Trajectories (Physics)
Journal Articles

Folding Process Planning of Rigid Origami Using the Explicit Expression and Rapidly Exploring Random Tree Method

Zhen Guo, Tomohiro Tachi, Hongying Yu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011003.
Paper No: JMR-20-1642
DOI: https://doi.org/10.1115/1.4051439
Published Online: July 5, 2021
View Article titled, Folding Process Planning of Rigid Origami Using the Explicit Expression and Rapidly Exploring Random Tree Method
Click here to open pdf in another window PDF for Folding Process Planning of Rigid Origami Using the Explicit Expression and Rapidly Exploring Random Tree Method
Topics: Algorithms, Critical points (Physics), Production planning, Degrees of freedom
Journal Articles

Design of Robotic Motion Platform Utilizing Continuous Contact Skating

Rajesh Kumar, Varan Gupta, Shantnav Agarwal, Jitendra P. Khatait
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061009.
Paper No: JMR-20-1427
DOI: https://doi.org/10.1115/1.4050827
Published Online: June 4, 2021
View Article titled, Design of Robotic Motion Platform Utilizing Continuous Contact Skating
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Topics: Creep, Design, Engineering prototypes, Kinematics, Matlab, Robotics, Robots, Rollers, Simulation, Wheels
Journal Articles

Special Issue: Selected Papers From IDETC-CIE 2020

Pinhas Ben-Tzvi, Leila Notash, Phil Voglewede
Journal: Journal of Mechanisms and Robotics
Article Type: Guest Editorial
J. Mechanisms Robotics. June 2021, 13(3): 030301.
Paper No: JMR-21-1141
DOI: https://doi.org/10.1115/1.4050855
Published Online: May 3, 2021
View Article titled, Special Issue: Selected Papers From IDETC-CIE 2020
Click here to open pdf in another window PDF for Special Issue: Selected Papers From IDETC-CIE 2020
Topics: Design, Robotics, Robots, Stiffness, Cables, Degrees of freedom, Modeling
Journal Articles

Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery

Tianci Zhang, Zhongyuan Ping, Siyang Zuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041002.
Paper No: JMR-20-1252
DOI: https://doi.org/10.1115/1.4049976
Published Online: April 9, 2021
View Article titled, Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery
Click here to open pdf in another window PDF for Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery
Topics: Design, Manipulators, Nickel titanium alloys, Fiber Bragg gratings, Bending (Stress), Surgery, Resolution (Optics), Calibration, Degrees of freedom, Force sensors
Journal Articles

Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031007.
Paper No: JMR-20-1443
DOI: https://doi.org/10.1115/1.4050152
Published Online: March 12, 2021
View Article titled, Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints
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Topics: Construction, Degrees of freedom, Kinematics, Mechanical admittance, Switches, Trajectories (Physics), Algebra, Circuits, Cables, Gears
Journal Articles

Constructing Rigid-Foldable Generalized Miura-Ori Tessellations for Curved Surfaces

Yucai Hu, Yexin Zhou, Haiyi Liang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011017.
Paper No: JMR-19-1365
DOI: https://doi.org/10.1115/1.4048630
Published Online: November 13, 2020
View Article titled, Constructing Rigid-Foldable Generalized Miura-Ori Tessellations for Curved Surfaces
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Topics: Airfoils, Construction, Design, Optimization, Degrees of freedom, Approximation