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Volume 9, Issue 3

June 2017

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ISSN 1942-4302

EISSN 1942-4310

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Research Papers

Research Papers

Efficient Closed-Form Solution of the Kinematics of a Tunnel Digging Machine

Paolo Boscariol, Alessandro Gasparetto, Lorenzo Scalera, Renato Vidoni

J. Mechanisms Robotics. June 2017, 9(3): 031001. doi: https://doi.org/10.1115/1.4035797

Abstract

View articletitled, Efficient Closed-Form Solution of the Kinematics of a Tunnel Digging Machine

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Topics: Kinematics , Manipulators , Machinery , Tunnels

The Synthesis of Function Generating Mechanisms for Periodic Curves Using Large Numbers of Double-Crank Linkages

Hessein Ali, Andrew P. Murray, David H. Myszka

J. Mechanisms Robotics. June 2017, 9(3): 031002. doi: https://doi.org/10.1115/1.4035985

Abstract

View articletitled, The Synthesis of Function Generating Mechanisms for Periodic Curves Using Large Numbers of Double-Crank Linkages

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Topics: Chain , Design , Dimensions , Drag (Fluid dynamics) , Errors , Linkages , Gears , Rotation , Displacement

General Dynamic Algorithm for Floating Base Tree Structure Robots With Flexible Joints and Links

Wisama Khalil, Frederic Boyer, Ferhat Morsli

J. Mechanisms Robotics. June 2017, 9(3): 031003. doi: https://doi.org/10.1115/1.4035798

Abstract

View articletitled, General Dynamic Algorithm for Floating Base Tree Structure Robots With Flexible Joints and Links

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Topics: Algorithms , Composite materials , Dynamics (Mechanics) , Robots , Tree (Data structure) , Torque , Deformation

Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots

Saeed Abdolshah, Damiano Zanotto, Giulio Rosati, Sunil K. Agrawal

J. Mechanisms Robotics. June 2017, 9(3): 031004. doi: https://doi.org/10.1115/1.4035681

Abstract

View articletitled, Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots

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Topics: Cables , Design , Robots , Stiffness , Pulleys , End effectors

Pseudo-Rigid-Body Model for the Flexural Beam With an Inflection Point in Compliant Mechanisms

Shun-Kun Zhu, Yue-Qing Yu

J. Mechanisms Robotics. June 2017, 9(3): 031005. doi: https://doi.org/10.1115/1.4035986

Abstract

View articletitled, Pseudo-Rigid-Body Model for the Flexural Beam With an Inflection Point in Compliant Mechanisms

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Topics: Compliant mechanisms , Deflection , Errors , Hinges , Kinematic analysis , Springs , Stiffness , Stress , Displacement , Design

Development and Analysis of a Novel Parallel Manipulator Used in Four-Dimensional Radiotherapy

Henry Arenbeck, Isabel Prause, Dirk Abel, Burkhard Corves

J. Mechanisms Robotics. June 2017, 9(3): 031006. doi: https://doi.org/10.1115/1.4035990

Abstract

View articletitled, Development and Analysis of a Novel Parallel Manipulator Used in Four-Dimensional Radiotherapy

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Topics: Design , End effectors , Kinematics , Phantoms , Robots , Radiation therapy , Manipulators , Robotics

Analysis of Two Spherical Parallel Manipulators With Hidden Revolute Joints

Ju Li, J. Michael McCarthy

J. Mechanisms Robotics. June 2017, 9(3): 031007. doi: https://doi.org/10.1115/1.4035542

Abstract

View articletitled, Analysis of Two Spherical Parallel Manipulators With Hidden Revolute Joints

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Topics: Manipulators , Kinematics , Chain

Local Analysis of Helicoid–Helicoid Intersections in Reconfigurable Linkages

P. C. López-Custodio, J. M. Rico, J. J. Cervantes-Sánchez

J. Mechanisms Robotics. June 2017, 9(3): 031008. doi: https://doi.org/10.1115/1.4035682

Abstract

View articletitled, Local Analysis of Helicoid–Helicoid Intersections in Reconfigurable Linkages

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Topics: Bifurcation , Linkages , Kinematics , Approximation

Pseudo-Rigid-Body Modeling of a Single Vertex Compliant-Facet Origami Mechanism

Jelle Rommers, Giuseppe Radaelli, Just L. Herder

J. Mechanisms Robotics. June 2017, 9(3): 031009. doi: https://doi.org/10.1115/1.4035881

Abstract

View articletitled, Pseudo-Rigid-Body Modeling of a Single Vertex Compliant-Facet Origami Mechanism

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Topics: Design , Finite element model , Hinges , Springs

Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization

Jingchen Hu, Tianshu Wang

J. Mechanisms Robotics. June 2017, 9(3): 031010. doi: https://doi.org/10.1115/1.4035373

Abstract

View articletitled, Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization

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Topics: Impulse (Physics) , Manipulators , Robots , Inertia (Mechanics) , Design , Dynamic models , Eigenvalues , Collisions (Physics)

Orientation Workspace and Stiffness Optimization of Cable-Driven Parallel Manipulators With Base Mobility

Michael Anson, Aliakbar Alamdari, Venkat Krovi

J. Mechanisms Robotics. June 2017, 9(3): 031011. doi: https://doi.org/10.1115/1.4035988

Abstract

View articletitled, Orientation Workspace and Stiffness Optimization of Cable-Driven Parallel Manipulators With Base Mobility

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Topics: Cables , Kinematics , Stiffness , Tension , Redundancy (Engineering) , Manipulators , Mechanical admittance , Optimization

Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery

Qinchuan Li, Jacques Marie Hervé, Pengcheng Huang

J. Mechanisms Robotics. June 2017, 9(3): 031012. doi: https://doi.org/10.1115/1.4035989

Abstract

View articletitled, Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery

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Topics: Chain , Generators , Actuators , Manipulators , Kinematics , Surgery

Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators

Sajid Nisar, Takahiro Endo, Fumitoshi Matsuno

J. Mechanisms Robotics. June 2017, 9(3): 031013. doi: https://doi.org/10.1115/1.4035991

Abstract

View articletitled, Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators

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Topics: Actuators , Design , Kinematics , Manipulators , Optimization , Surgery , Degrees of freedom , Cables , Pulleys

Passively Driven Redundant Spherical Joint With Very Large Range of Motion

Louis-Thomas Schreiber, Clément Gosselin

J. Mechanisms Robotics. June 2017, 9(3): 031014. doi: https://doi.org/10.1115/1.4035802

Abstract

View articletitled, Passively Driven Redundant Spherical Joint With Very Large Range of Motion

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Topics: Engineering prototypes , Springs , Kinematics , Design

Optimal-Regularity for Serial Redundant Robots

Nir Shvalb, Tal Grinshpoun, Oded Medina

J. Mechanisms Robotics. June 2017, 9(3): 031015. doi: https://doi.org/10.1115/1.4035532

Abstract

View articletitled, Optimal-Regularity for Serial Redundant Robots

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Topics: Algorithms , Grippers , Robots , Actuators

Series Elastic Actuators for Small-Scale Robotic Applications

Priyanshu Agarwal, Ashish D. Deshpande

J. Mechanisms Robotics. June 2017, 9(3): 031016. doi: https://doi.org/10.1115/1.4035987

Abstract

View articletitled, Series Elastic Actuators for Small-Scale Robotic Applications

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Topics: Actuators , Exoskeleton devices , Seas , Torque , Cables , Stiffness , Springs , Design

Kinematic Analysis and Dimensional Synthesis of a Meso-Gripper

Guochao Bai, Xianwen Kong, James Millar Ritchie

J. Mechanisms Robotics. June 2017, 9(3): 031017. doi: https://doi.org/10.1115/1.4035800

Abstract

View articletitled, Kinematic Analysis and Dimensional Synthesis of a Meso-Gripper

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Topics: Design , Grippers , Kinematic analysis , Linkages

Mobility and Constraint Analysis of Interconnected Hybrid Flexure Systems Via Screw Algebra and Graph Theory

Frederick Sun, Jonathan B. Hopkins

J. Mechanisms Robotics. June 2017, 9(3): 031018. doi: https://doi.org/10.1115/1.4035993

Abstract

View articletitled, Mobility and Constraint Analysis of Interconnected Hybrid Flexure Systems Via Screw Algebra and Graph Theory

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Topics: Bending (Stress) , Mechanical admittance , Screws , Space , Topology , Algebra

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Research Papers

Efficient Closed-Form Solution of the Kinematics of a Tunnel Digging Machine

The Synthesis of Function Generating Mechanisms for Periodic Curves Using Large Numbers of Double-Crank Linkages

General Dynamic Algorithm for Floating Base Tree Structure Robots With Flexible Joints and Links

Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots

Pseudo-Rigid-Body Model for the Flexural Beam With an Inflection Point in Compliant Mechanisms

Development and Analysis of a Novel Parallel Manipulator Used in Four-Dimensional Radiotherapy

Analysis of Two Spherical Parallel Manipulators With Hidden Revolute Joints

Local Analysis of Helicoid–Helicoid Intersections in Reconfigurable Linkages

Pseudo-Rigid-Body Modeling of a Single Vertex Compliant-Facet Origami Mechanism

Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization

Orientation Workspace and Stiffness Optimization of Cable-Driven Parallel Manipulators With Base Mobility

Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery

Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators

Passively Driven Redundant Spherical Joint With Very Large Range of Motion

Optimal-Regularity for Serial Redundant Robots

Series Elastic Actuators for Small-Scale Robotic Applications

Kinematic Analysis and Dimensional Synthesis of a Meso-Gripper

Mobility and Constraint Analysis of Interconnected Hybrid Flexure Systems Via Screw Algebra and Graph Theory

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