Volume 14 Issue 5 | J. Mechanisms Robotics

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Editorial

Announcing the 2021 Best Paper Award and Honorable Mention

Venkat Krovi

J. Mechanisms Robotics. October 2022, 14(5): 050201. doi: https://doi.org/10.1115/1.4054364

Extract

View articletitled, Announcing the 2021 Best Paper Award and Honorable Mention

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Topics: Biomimetics , Compliant mechanisms , Resolution (Optics) , Robotics , Robots , Springs , Stiffness

Review Article

A Review of Bat-Inspired Shape Morphing Robotic Design

Tingting Sui, Ting Zou

J. Mechanisms Robotics. October 2022, 14(5): 050801. doi: https://doi.org/10.1115/1.4053686

Abstract

View articletitled, A Review of Bat-Inspired Shape Morphing Robotic Design

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Topics: Flight , Robots , Wings , Design , Aerodynamics , Shapes

Research Papers

Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy

Bing Chen, Bin Zi, Bin Zhou, Zhengyu Wang

J. Mechanisms Robotics. October 2022, 14(5): 051001. doi: https://doi.org/10.1115/1.4053218

Abstract

View articletitled, Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy

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Topics: Control equipment , Orthotics , Robotics , Torque

Modeling and Analysis of a Soft Endoluminal Inchworm Robot Propelled by a Rotating Magnetic Dipole Field

Jake A. Steiner, Lan N. Pham, Jake J. Abbott, Kam K. Leang

J. Mechanisms Robotics. October 2022, 14(5): 051002. doi: https://doi.org/10.1115/1.4053114

Abstract

View articletitled, Modeling and Analysis of a Soft Endoluminal Inchworm Robot Propelled by a Rotating Magnetic Dipole Field

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Topics: Design , Robots

Development of Topology Optimized Bending-Twisting Soft Finger

Zhili Chen, Hamed Rahimi Nohooji, Chee-Meng Chew

J. Mechanisms Robotics. October 2022, 14(5): 051003. doi: https://doi.org/10.1115/1.4053159

Abstract

View articletitled, Development of Topology Optimized Bending-Twisting Soft Finger

Supplementary data

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Topics: Design , Grippers , Optimization , Topology , Pressure , Manufacturing , Grasping , Robotics , Rotation

Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs

Rafael Balderas Hill, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet

J. Mechanisms Robotics. October 2022, 14(5): 051004. doi: https://doi.org/10.1115/1.4053158

Abstract

View articletitled, Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs

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Topics: Energy efficiency , Robots , Springs , Stiffness , Variable structure systems , Motors , Boundary-value problems

A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance

Junchen Wang, Chunheng Lu, Yinghao Zhang, Zhen Sun, Yu Shen

J. Mechanisms Robotics. October 2022, 14(5): 051005. doi: https://doi.org/10.1115/1.4053375

Abstract

View articletitled, A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance

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Topics: Kinematics , Manipulators , Algorithms , Manifolds

Algorithmic Selection of Preferred Grasp Poses Using Manipulability Ellipsoid Forms

Rajesh Kumar, Sudipto Mukherjee

J. Mechanisms Robotics. October 2022, 14(5): 051006. doi: https://doi.org/10.1115/1.4053374

Abstract

View articletitled, Algorithmic Selection of Preferred Grasp Poses Using Manipulability Ellipsoid Forms

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Topics: Algorithms , Kinematics , Robotics , Rotation , Eigenvalues , End effectors , Grasping

Planar Compliance Realization With Two 3-Joint Serial Mechanisms

Shuguang Huang, Joseph M. Schimmels

J. Mechanisms Robotics. October 2022, 14(5): 051007. doi: https://doi.org/10.1115/1.4053284

Abstract

View articletitled, Planar Compliance Realization With Two 3-Joint Serial Mechanisms

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Topics: Parallel mechanisms , Springs , Stiffness , Geometry

Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model

Jun Gao, Bin Zhou, Bin Zi, Sen Qian, Ping Zhao

J. Mechanisms Robotics. October 2022, 14(5): 051008. doi: https://doi.org/10.1115/1.4053219

Abstract

View articletitled, Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model

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Topics: Cables , Errors , Kinematics , Pulleys , Uncertainty , Uncertainty analysis , Robots

Modeling of Industrial Robot Kinematics Using a Hybrid Analytical and Statistical Approach

Vinh Nguyen, Jeremy A. Marvel

J. Mechanisms Robotics. October 2022, 14(5): 051009. doi: https://doi.org/10.1115/1.4053734

Abstract

View articletitled, Modeling of Industrial Robot Kinematics Using a Hybrid Analytical and Statistical Approach

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Topics: Errors , Kinematics , Modeling , Robot kinematics , Robots , Calibration

A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms

Zhen Song, Zirong Luo, Guowu Wei, Jianzhong Shang

J. Mechanisms Robotics. October 2022, 14(5): 051010. doi: https://doi.org/10.1115/1.4053529

Abstract

View articletitled, A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms

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Topics: Robots , Wheels , Mobile robots

Efficient Model-Free Calibration of a 5-Degree of Freedom Hybrid Robot

NanYan Shen, HengMing Yuan, Jing Li, ZiRui Wang, Liang Geng, HuiEn Shi, NingHe Lu

J. Mechanisms Robotics. October 2022, 14(5): 051011. doi: https://doi.org/10.1115/1.4053824

Abstract

View articletitled, Efficient Model-Free Calibration of a 5-Degree of Freedom Hybrid Robot

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Topics: Calibration , Errors , Robots , Artificial neural networks

Technical Briefs

Design of a Noncircular Gear Mechanism With Twice Unequal Amplitude Transmission Ratio

Jiangang Liu, Zhipeng Tong, Gaohong Yu, Xiong Zhao, Haili Zhou

J. Mechanisms Robotics. October 2022, 14(5): 054501. doi: https://doi.org/10.1115/1.4053472

Abstract

View articletitled, Design of a Noncircular Gear Mechanism With Twice Unequal Amplitude Transmission Ratio

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Topics: Composite materials , Design , Gears

Spring Configurations and Attachment Angles Determination for Statically Balanced Planar Articulated Manipulators

Chia-Wei Juang, Dar-Zen Chen

J. Mechanisms Robotics. October 2022, 14(5): 054502. doi: https://doi.org/10.1115/1.4053733

Abstract

View articletitled, Spring Configurations and Attachment Angles Determination for Statically Balanced Planar Articulated Manipulators

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Topics: Springs , Stiffness , Manipulators

Rigid-Foldable Mechanism Inspired by Origami Twisted Tower

Xin Wu, Canjun Yang, Jia Li, Qichao Zhao, Weitao Wu, Yuanchao Zhu, Feng Zhang

J. Mechanisms Robotics. October 2022, 14(5): 054503. doi: https://doi.org/10.1115/1.4053736

Abstract

View articletitled, Rigid-Foldable Mechanism Inspired by Origami Twisted Tower

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Topics: Design , Geometry , Manufacturing , Manipulators

Design and Experimental Verification of a Parallel Hip Exoskeleton System for Full-Gait-Cycle Rehabilitation

Xiangyang Wang, Sheng Guo, Bojian Qu, Majun Song, Peiyi Wang, Du-Xin Liu

J. Mechanisms Robotics. October 2022, 14(5): 054504. doi: https://doi.org/10.1115/1.4053735

Abstract

View articletitled, Design and Experimental Verification of a Parallel Hip Exoskeleton System for Full-Gait-Cycle Rehabilitation

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Topics: Cycles , Design , Exoskeleton devices , Cables

Denavit-Hartenberg Notation-Based Kinematic Constraint Equations for Forward Kinematics of the 3–6 Stewart Platform

Seongbo Shim, Seongpung Lee, Subin Joo, Joonho Seo

J. Mechanisms Robotics. October 2022, 14(5): 054505. doi: https://doi.org/10.1115/1.4053822

Abstract

View articletitled, Denavit-Hartenberg Notation-Based Kinematic Constraint Equations for Forward Kinematics of the 3–6 Stewart Platform

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Topics: Constraint equations , Kinematics

Design Innovation Paper

Novel Methodology for Inflection Circle-Based Synthesis of Straight Line Crank Rocker Mechanism

P. B. Shiwalkar, S. D. Moghe, J. P. Modak

J. Mechanisms Robotics. October 2022, 14(5): 055001. doi: https://doi.org/10.1115/1.4053373

Abstract

View articletitled, Novel Methodology for Inflection Circle-Based Synthesis of Straight Line Crank Rocker Mechanism

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Discussion

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Gustavo A. Medrano-Cerda

J. Mechanisms Robotics. October 2022, 14(5): 055501. doi: https://doi.org/10.1115/1.4049005

Abstract

View articletitled, Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

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Topics: Feedback , Humanoid robots , Robots , Stability , Theorems (Mathematics) , Control equipment , Dynamics (Mechanics) , Errors , Compliant mechanisms

Closure

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis

J. Mechanisms Robotics. October 2022, 14(5): 056001. doi: https://doi.org/10.1115/1.4054926

Abstract

View articletitled, Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

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Topics: Humanoid robots , Stability , Theorems (Mathematics) , Control equipment , Robots , Feedback

Editorial

Announcing the 2021 Best Paper Award and Honorable Mention

Review Article

A Review of Bat-Inspired Shape Morphing Robotic Design

Research Papers

Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy

Modeling and Analysis of a Soft Endoluminal Inchworm Robot Propelled by a Rotating Magnetic Dipole Field

Development of Topology Optimized Bending-Twisting Soft Finger

Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs

A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance

Algorithmic Selection of Preferred Grasp Poses Using Manipulability Ellipsoid Forms

Planar Compliance Realization With Two 3-Joint Serial Mechanisms

Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model

Modeling of Industrial Robot Kinematics Using a Hybrid Analytical and Statistical Approach

A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms

Efficient Model-Free Calibration of a 5-Degree of Freedom Hybrid Robot

Technical Briefs

Design of a Noncircular Gear Mechanism With Twice Unequal Amplitude Transmission Ratio

Spring Configurations and Attachment Angles Determination for Statically Balanced Planar Articulated Manipulators

Rigid-Foldable Mechanism Inspired by Origami Twisted Tower

Design and Experimental Verification of a Parallel Hip Exoskeleton System for Full-Gait-Cycle Rehabilitation

Denavit-Hartenberg Notation-Based Kinematic Constraint Equations for Forward Kinematics of the 3–6 Stewart Platform

Design Innovation Paper

Novel Methodology for Inflection Circle-Based Synthesis of Straight Line Crank Rocker Mechanism

Discussion

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Closure

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

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