Volume 7 Issue 4 | J. Mechanisms Robotics

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Volume 7, Issue 4

November 2015

ISSN 1942-4302

EISSN 1942-4310

Research Papers

Assur-Group Inferred Structural Synthesis for Planar Mechanisms

Shujun Li, Hongguang Wang, Jian S. Dai

J. Mechanisms Robotics. November 2015, 7(4): 041001. doi: https://doi.org/10.1115/1.4029116

Abstract

View articletitled, Assur-Group Inferred Structural Synthesis for Planar Mechanisms

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Topics: Linkages

A Rolling 8-Bar Linkage Mechanism

Yaobin Tian, Yan-An Yao, Jieyu Wang

J. Mechanisms Robotics. November 2015, 7(4): 041002. doi: https://doi.org/10.1115/1.4029117

Abstract

View articletitled, A Rolling 8-Bar Linkage Mechanism

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Topics: Atomic force microscopy , Kinematic analysis , Linkages , Engineering prototypes

A Polynomial Formulation of Inverse Kinematics of Rolling Contact

Lei Cui, Jian S. Dai

J. Mechanisms Robotics. November 2015, 7(4): 041003. doi: https://doi.org/10.1115/1.4029498

Abstract

View articletitled, A Polynomial Formulation of Inverse Kinematics of Rolling Contact

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Topics: Kinematics , Polynomials , Rolling contact , Rotation , Geometry , Torsion , Approximation , Particle spin , Spin (Aerodynamics)

Kinematic Analysis and Dimensional Synthesis of Exechon Parallel Kinematic Machine for Large Volume Machining

Y. Jin, Z. M. Bi, H. T. Liu, C. Higgins, M. Price, W. H. Chen, T. Huang

J. Mechanisms Robotics. November 2015, 7(4): 041004. doi: https://doi.org/10.1115/1.4029499

Abstract

View articletitled, Kinematic Analysis and Dimensional Synthesis of Exechon Parallel Kinematic Machine for Large Volume Machining

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Topics: Design , Kinematics , Machinery , Machining , Optimization , Dimensions , Kinematic analysis , Actuators

Design for Control of Wheeled Inverted Pendulum Platforms

Hari Vasudevan, Aaron M. Dollar, John B. Morrell

J. Mechanisms Robotics. November 2015, 7(4): 041005. doi: https://doi.org/10.1115/1.4029401

Abstract

View articletitled, Design for Control of Wheeled Inverted Pendulum Platforms

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Topics: Design , Limit cycles , Motors , Simulation , Tires , Wheels , Pendulums , Damping , Torque

Four-Pose Synthesis of Angle-Symmetric 6R Linkages

Gábor Hegedüs, Josef Schicho, Hans-Peter Schröcker

J. Mechanisms Robotics. November 2015, 7(4): 041006. doi: https://doi.org/10.1115/1.4029186

Abstract

View articletitled, Four-Pose Synthesis of Angle-Symmetric 6R Linkages

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Topics: Interpolation , Linkages , Polynomials , Rotation

Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal Seneviratne

J. Mechanisms Robotics. November 2015, 7(4): 041007. doi: https://doi.org/10.1115/1.4029808

Abstract

View articletitled, Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators

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Topics: Kinematics , Manipulators , Manufacturing , Rotation , Symmetry (Physics) , Jacobian matrices , Parallel mechanisms

Design and Optimization of a Five-Finger Haptic Glove Mechanism

Zhou Ma, Pinhas Ben-Tzvi

J. Mechanisms Robotics. November 2015, 7(4): 041008. doi: https://doi.org/10.1115/1.4029437

Abstract

View articletitled, Design and Optimization of a Five-Finger Haptic Glove Mechanism

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Topics: Actuators , Design , Haptics , Optimization , Friction , Simulation , Force feedback , Tendons

Synthesis of Spatial Mechanism UR-2SS for Path Generation

Wen-Yeuan Chung

J. Mechanisms Robotics. November 2015, 7(4): 041009. doi: https://doi.org/10.1115/1.4029438

Abstract

View articletitled, Synthesis of Spatial Mechanism UR-2SS for Path Generation

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Topics: Kinematic chains , Linkages , Design , Trajectories (Physics)

Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator

Gang Cheng, Song-tao Wang, De-hua Yang, Jian-hua Yang

J. Mechanisms Robotics. November 2015, 7(4): 041010. doi: https://doi.org/10.1115/1.4028623

Abstract

View articletitled, Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator

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Topics: Finite element methods , Kinematics , Simulation , Rods , Manipulators

Sliding-Bar MACCEPA for a Powered Ankle Prosthesis

R. Jimenez-Fabian, L. Flynn, J. Geeroms, N. Vitiello, B. Vanderborght, D. Lefeber

J. Mechanisms Robotics. November 2015, 7(4): 041011. doi: https://doi.org/10.1115/1.4029439

Abstract

View articletitled, Sliding-Bar MACCEPA for a Powered Ankle Prosthesis

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Topics: Actuators , Compression , Design , Levers , Motors , Prostheses , Springs , Stiffness , Torque , Engineering prototypes

On the Stability of Rigid Multibody Systems With Applications to Robotic Grasping and Locomotion

Péter L. Várkonyi

J. Mechanisms Robotics. November 2015, 7(4): 041012. doi: https://doi.org/10.1115/1.4029402

Abstract

View articletitled, On the Stability of Rigid Multibody Systems With Applications to Robotic Grasping and Locomotion

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Topics: Deformation , Equilibrium (Physics) , Grasping , Multibody systems , Potential energy , Stability , Static stability , Robots , Scalars , Stress

Evaluation of Force/Torque Transmission Quality for Parallel Manipulators

Xiang Chen, Chao Chen, Xin-Jun Liu

J. Mechanisms Robotics. November 2015, 7(4): 041013. doi: https://doi.org/10.1115/1.4029188

Abstract

View articletitled, Evaluation of Force/Torque Transmission Quality for Parallel Manipulators

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Topics: Manipulators , Torque

Kinematics of a Generalized Class of Pneumatic Artificial Muscles

Girish Krishnan, Joshua Bishop-Moser, Charles Kim, Sridhar Kota

J. Mechanisms Robotics. November 2015, 7(4): 041014. doi: https://doi.org/10.1115/1.4029705

Abstract

View articletitled, Kinematics of a Generalized Class of Pneumatic Artificial Muscles

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Topics: Cylinders , Deformation , Fibers , Kinematics , Fluids

Design and Development of a High-Speed and High-Rotation Robot With Four Identical Arms and a Single Platform

Fugui Xie, Xin-Jun Liu

J. Mechanisms Robotics. November 2015, 7(4): 041015. doi: https://doi.org/10.1115/1.4029440

Abstract

View articletitled, Design and Development of a High-Speed and High-Rotation Robot With Four Identical Arms and a Single Platform

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Topics: Design , Robots , Kinematics , Rotation

Nonlinear Analytical Modeling and Characteristic Analysis of a Class of Compound Multibeam Parallelogram Mechanisms

Guangbo Hao, Haiyang Li

J. Mechanisms Robotics. November 2015, 7(4): 041016. doi: https://doi.org/10.1115/1.4029556

Abstract

View articletitled, Nonlinear Analytical Modeling and Characteristic Analysis of a Class of Compound Multibeam Parallelogram Mechanisms

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Topics: Modeling , Stiffness , Stress , Displacement , Finite element analysis , Yaw , Compliant mechanisms

Kinematics Modeling of a Notched Continuum Manipulator

Zhijiang Du, Wenlong Yang, Wei Dong

J. Mechanisms Robotics. November 2015, 7(4): 041017. doi: https://doi.org/10.1115/1.4028935

Abstract

View articletitled, Kinematics Modeling of a Notched Continuum Manipulator

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Topics: Kinematics , Manipulators , Modeling , Deformation

Type Synthesis of Two-Degrees-of-Freedom 3-4R Parallel Mechanisms With Both Spherical Translation Mode and Sphere-on-Sphere Rolling Mode

Xianwen Kong, Jingjun Yu

J. Mechanisms Robotics. November 2015, 7(4): 041018. doi: https://doi.org/10.1115/1.4029118

Abstract

View articletitled, Type Synthesis of Two-Degrees-of-Freedom 3-4R Parallel Mechanisms With Both Spherical Translation Mode and Sphere-on-Sphere Rolling Mode

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Topics: Actuators , Kinematic chains , Manufacturing , Parallel mechanisms , Screws , Manipulators , Spin (Aerodynamics) , Spinning (Textile) , Trajectories (Physics) , Rotation

Control and Motion Planning of a Nonholonomic Parallel Orienting Platform

Janusz Jakubiak, Władyslaw Magiera, Krzysztof Tchoń

J. Mechanisms Robotics. November 2015, 7(4): 041019. doi: https://doi.org/10.1115/1.4029891

Abstract

View articletitled, Control and Motion Planning of a Nonholonomic Parallel Orienting Platform

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Topics: Algorithms , Path planning , Errors

Extra Modes of Operation and Self-Motions in Manipulators Designed for Schoenflies Motion

Michel Coste, Kartoue Mady Demdah

J. Mechanisms Robotics. November 2015, 7(4): 041020. doi: https://doi.org/10.1115/1.4029501

Abstract

View articletitled, Extra Modes of Operation and Self-Motions in Manipulators Designed for Schoenflies Motion

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Topics: Manipulators , Rotation , Kinematics

Incremental Forward Kinematics of Wire-Suspended Parallel Mechanical System (A Many-Worlds Interpretation Approach)

Kazuyuki Hanahara

J. Mechanisms Robotics. November 2015, 7(4): 041021. doi: https://doi.org/10.1115/1.4030163

Abstract

View articletitled, Incremental Forward Kinematics of Wire-Suspended Parallel Mechanical System (A Many-Worlds Interpretation Approach)

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Topics: Kinematics , Wire , Tension

Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement

Dongming Gan, Jian S. Dai, Jorge Dias, Rehan Umer, Lakmal Seneviratne

J. Mechanisms Robotics. November 2015, 7(4): 041022. doi: https://doi.org/10.1115/1.4029957

Abstract

View articletitled, Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement

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Topics: Design , Jacobian matrices , Kinematics , Parallel mechanisms , Fibers

Optimum Synthesis of Planar Mechanisms for Path Generation Based on a Combined Discrete Fourier Descriptor

Wen-Yi Lin

J. Mechanisms Robotics. November 2015, 7(4): 041023. doi: https://doi.org/10.1115/1.4030584

Abstract

View articletitled, Optimum Synthesis of Planar Mechanisms for Path Generation Based on a Combined Discrete Fourier Descriptor

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Topics: Rotation , Shape optimization , Shapes , Design

Smart Knee Brace Design With Parallel Coupled Compliant Plate Mechanism and Pennate Elastic Band Spring

Seungkook Jun, Xiaobo Zhou, Daniel K. Ramsey, Venkat N. Krovi

J. Mechanisms Robotics. November 2015, 7(4): 041024. doi: https://doi.org/10.1115/1.4030653

Abstract

View articletitled, Smart Knee Brace Design With Parallel Coupled Compliant Plate Mechanism and Pennate Elastic Band Spring

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Topics: Bracing (Construction) , Design , Exoskeleton devices , Knee , Springs , Stress , Stiffness , Engineering prototypes

A Human-Inspired Method for Point-to-Point and Path-Following Navigation of Mobile Robots

F. Heidari, R. Fotouhi

J. Mechanisms Robotics. November 2015, 7(4): 041025. doi: https://doi.org/10.1115/1.4030775

Abstract

View articletitled, A Human-Inspired Method for Point-to-Point and Path-Following Navigation of Mobile Robots

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Topics: Navigation , Robots , Mobile robots , Lasers

Technical Brief

Equivalent Linkages and Dead Center Positions of Planar Single-Degree-of-Freedom Complex Linkages

Jun Wang, Kwun-Lon Ting, Daxing Zhao

J. Mechanisms Robotics. November 2015, 7(4): 044501. doi: https://doi.org/10.1115/1.4029187

Abstract

View articletitled, Equivalent Linkages and Dead Center Positions of Planar Single-Degree-of-Freedom Complex Linkages

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Topics: Linkages

Definition and Computation of Tensegrity Mechanism Workspace

Quentin Boehler, Isabelle Charpentier, Marc S. Vedrines, Pierre Renaud

J. Mechanisms Robotics. November 2015, 7(4): 044502. doi: https://doi.org/10.1115/1.4029809

Abstract

View articletitled, Definition and Computation of Tensegrity Mechanism Workspace

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Topics: Computation , Springs , Tensegrity mechanisms , Kinematics

Design and Experimental Testing of an Improved Large-Range Decoupled XY Compliant Parallel Micromanipulator

Jingjun Yu, Yan Xie, Zhenguo Li, Guangbo Hao

J. Mechanisms Robotics. November 2015, 7(4): 044503. doi: https://doi.org/10.1115/1.4030467

Abstract

View articletitled, Design and Experimental Testing of an Improved Large-Range Decoupled XY Compliant Parallel Micromanipulator

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Topics: Design , Testing , Topology , Displacement , Stress , Yaw , Kinematics

Research Papers

Assur-Group Inferred Structural Synthesis for Planar Mechanisms

A Rolling 8-Bar Linkage Mechanism

A Polynomial Formulation of Inverse Kinematics of Rolling Contact

Kinematic Analysis and Dimensional Synthesis of Exechon Parallel Kinematic Machine for Large Volume Machining

Design for Control of Wheeled Inverted Pendulum Platforms

Four-Pose Synthesis of Angle-Symmetric 6R Linkages

Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators

Design and Optimization of a Five-Finger Haptic Glove Mechanism

Synthesis of Spatial Mechanism UR-2SS for Path Generation

Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator

Sliding-Bar MACCEPA for a Powered Ankle Prosthesis

On the Stability of Rigid Multibody Systems With Applications to Robotic Grasping and Locomotion

Evaluation of Force/Torque Transmission Quality for Parallel Manipulators

Kinematics of a Generalized Class of Pneumatic Artificial Muscles

Design and Development of a High-Speed and High-Rotation Robot With Four Identical Arms and a Single Platform

Nonlinear Analytical Modeling and Characteristic Analysis of a Class of Compound Multibeam Parallelogram Mechanisms

Kinematics Modeling of a Notched Continuum Manipulator

Type Synthesis of Two-Degrees-of-Freedom 3-4R Parallel Mechanisms With Both Spherical Translation Mode and Sphere-on-Sphere Rolling Mode

Control and Motion Planning of a Nonholonomic Parallel Orienting Platform

Extra Modes of Operation and Self-Motions in Manipulators Designed for Schoenflies Motion

Incremental Forward Kinematics of Wire-Suspended Parallel Mechanical System (A Many-Worlds Interpretation Approach)

Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement

Optimum Synthesis of Planar Mechanisms for Path Generation Based on a Combined Discrete Fourier Descriptor

Smart Knee Brace Design With Parallel Coupled Compliant Plate Mechanism and Pennate Elastic Band Spring

A Human-Inspired Method for Point-to-Point and Path-Following Navigation of Mobile Robots

Technical Brief

Equivalent Linkages and Dead Center Positions of Planar Single-Degree-of-Freedom Complex Linkages

Definition and Computation of Tensegrity Mechanism Workspace

Design and Experimental Testing of an Improved Large-Range Decoupled XY Compliant Parallel Micromanipulator

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