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Journal Articles

A Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace

Foroogh Behroozi, Ramin Mersi, Antoine Benoist, Ru Ying Yong, Philippe Cardou, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010905.
Paper No: JMR-23-1582
https://doi.org/10.1115/1.4065393
Published Online: June 17, 2024
View Article titled, A Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace
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Topics: Actuators, Cables, Robots, Pulleys
Journal Articles

A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator

Zhengyu Wang, Xiang Yu, Mingxin Hai, Sen Qian, Daoming Wang, Ziqian Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101006.
Paper No: JMR-23-1111
https://doi.org/10.1115/1.4064568
Published Online: February 27, 2024
View Article titled, A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
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Topics: Cables, Haptics, Manipulators, Pulleys, Surgery, Algorithms, Errors
Journal Articles

Sensitivity Analysis of a Suspended Cable-Driven Parallel Robot to Design Parameters

Thibaut Paty, Nicolas Binaud, Hong Wang, Stéphane Segonds
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061001.
Paper No: JMR-21-1745
https://doi.org/10.1115/1.4056234
Published Online: January 17, 2023
View Article titled, Sensitivity Analysis of a Suspended Cable-Driven Parallel Robot to Design Parameters
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Topics: Cables, Errors, Pulleys, Parametrization, Design, Dimensions, Experimental design
Journal Articles

Development of a Constant Force Suspended Backpack for Variable Load and Variable Speed Locomotion

Haotian Ju, Liang Gao, Hongwu Li, Dongbao Sui, Qinghua Zhang, Yanhe Zhu, Jie Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051006.
Paper No: JMR-22-1139
https://doi.org/10.1115/1.4055935
Published Online: November 24, 2022
View Article titled, Development of a Constant Force Suspended Backpack for Variable Load and Variable Speed Locomotion
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Topics: Stress, Design, Springs, Stiffness, Pulleys
Journal Articles

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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051008.
Paper No: JMR-21-1352
https://doi.org/10.1115/1.4053219
Published Online: February 21, 2022
View Article titled, 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
Journal Articles

Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator

Ryan Moore, Joseph M. Schimmels
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031001.
Paper No: JMR-20-1437
https://doi.org/10.1115/1.4050104
Published Online: March 12, 2021
View Article titled, Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator
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Topics: Actuators, Cables, Deflection, Design, Pulleys, Springs, Stiffness, Testing, Motors
Journal Articles

Constant Force Spring System With a Spiral

Richard B. Hetnarski
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061018.
Paper No: JMR-20-1054
https://doi.org/10.1115/1.4047982
Published Online: August 11, 2020
View Article titled, Constant Force Spring System With a Spiral
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Topics: Springs, Differential equations, Pulleys
Journal Articles

Bidirectional Spiral Pulley Negative Stiffness Mechanism for Passive Energy Balancing

Jiaying Zhang, Alexander D. Shaw, Mohammadreza Amoozgar, Michael I. Friswell, Benjamin K. S. Woods
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 054502.
Paper No: JMR-18-1344
https://doi.org/10.1115/1.4043818
Published Online: July 18, 2019
View Article titled, Bidirectional Spiral Pulley Negative Stiffness Mechanism for Passive Energy Balancing
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Topics: Pulleys, Stiffness, Torque, Rotation, Springs, Cables, Kinematics
Journal Articles

Design and Analysis of a Multimodal Grasper Having Shape Conformity and Within-Hand Manipulation With Adjustable Contact Forces

Nagamanikandan Govindan, Asokan Thondiyath
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051012.
Paper No: JMR-19-1128
https://doi.org/10.1115/1.4044163
Published Online: July 12, 2019
View Article titled, Design and Analysis of a Multimodal Grasper Having Shape Conformity and Within-Hand Manipulation With Adjustable Contact Forces
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Topics: Design, Grasping, Pulleys, Shapes, Belts, Springs
Journal Articles

Differential Noncircular Pulleys for Cable Robots and Static Balancing

Dmitri Fedorov, Lionel Birglen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061001.
Paper No: JMR-18-1051
https://doi.org/10.1115/1.4041213
Published Online: September 7, 2018
View Article titled, Differential Noncircular Pulleys for Cable Robots and Static Balancing
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Topics: Cables, Pulleys, Robots, Rotation, Pendulums
Journal Articles

Harmonious Cable Actuation Mechanism for Soft Robot Joints Using a Pair of Noncircular Pulleys

Jung-wook Suh, Ki-young Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061002.
Paper No: JMR-18-1030
https://doi.org/10.1115/1.4041055
Published Online: August 24, 2018
View Article titled, Harmonious Cable Actuation Mechanism for Soft Robot Joints Using a Pair of Noncircular Pulleys
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Topics: Cables, Pulleys, Tension, Design
Journal Articles

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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031013.
Paper No: JMR-16-1222
https://doi.org/10.1115/1.4035991
Published Online: March 23, 2017
View Article titled, Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators
Open the PDF for Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators in another window
Topics: Actuators, Design, Kinematics, Manipulators, Optimization, Surgery, Degrees of freedom, Cables, Pulleys
Journal Articles

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

Saeed Abdolshah, Damiano Zanotto, Giulio Rosati, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031004.
Paper No: JMR-16-1119
https://doi.org/10.1115/1.4035681
Published Online: March 20, 2017
View Article titled, Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots
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Topics: Cables, Design, Robots, Stiffness, Pulleys, End effectors
Journal Articles

A McKibben Type Sleeve Pneumatic Muscle and Integrated Mechanism for Improved Stroke Length

Michael F. Cullinan, Eamonn Bourke, Kevin Kelly, Conor McGinn
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2017, 9(1): 011013.
Paper No: JMR-16-1266
https://doi.org/10.1115/1.4035496
Published Online: January 11, 2017
View Article titled, A McKibben Type Sleeve Pneumatic Muscle and Integrated Mechanism for Improved Stroke Length
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Topics: Muscle, Design, Pulleys
Journal Articles

Variable Radius Drum Mechanisms

Stefano Seriani, Paolo Gallina
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021016.
Paper No: JMR-15-1069
https://doi.org/10.1115/1.4031951
Published Online: November 24, 2015
View Article titled, Variable Radius Drum Mechanisms
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Topics: Cables, Engineering prototypes, Pulleys, Stress, Kinematic analysis
Journal Articles

A Novel Joint Design for Robotic Hands With Humanlike Nonlinear Compliance

Pei-Hsin Kuo, Ashish D. Deshpande
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021004.
Paper No: JMR-14-1335
https://doi.org/10.1115/1.4031300
Published Online: November 24, 2015
View Article titled, A Novel Joint Design for Robotic Hands With Humanlike Nonlinear Compliance
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Topics: Design, Pulleys, Torque, Robotics
Journal Articles

Analysis and Design of a Passive Steering Mechanism for a Pedaled, Self-Balanced Unicycle

Chun-Feng Huang, Jian-Hao Hong, T.-J. Yeh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011006.
Paper No: JMR-14-1248
https://doi.org/10.1115/1.4030652
Published Online: August 18, 2015
View Article titled, Analysis and Design of a Passive Steering Mechanism for a Pedaled, Self-Balanced Unicycle
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Topics: Design, Dynamics (Mechanics), Simulation, Vehicles, Wheels, Bicycles, Dynamic models, Cables, Kinetic energy, Engineering prototypes
Journal Articles

Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism

Bongsu Kim, Ashish D. Deshpande
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2014, 6(4): 041009.
Paper No: JMR-13-1136
https://doi.org/10.1115/1.4027513
Published Online: June 12, 2014
View Article titled, Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism
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Topics: Design, Pulleys, Springs, Torque, Gravity (Force), Shapes, Stiffness
Journal Articles

A Novel Fingertip Design for Slip Detection Under Dynamic Load Conditions

Somer M. Nacy, Mauwafak A. Tawfik, Ihsan A. Baqer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2014, 6(3): 031009.
Paper No: JMR-13-1132
https://doi.org/10.1115/1.4027237
Published Online: April 21, 2014
View Article titled, A Novel Fingertip Design for Slip Detection Under Dynamic Load Conditions
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Topics: Design, Friction, Grasping, Sensors, Stress, Tendons, Signals, Motors, Force sensors, Excitation
Journal Articles

Haptic Hand Exoskeleton for Precision Grasp Simulation

Marco Fontana, Salsedo Fabio, Simone Marcheschi, Massimo Bergamasco
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041014.
Paper No: JMR-11-1080
https://doi.org/10.1115/1.4024981
Published Online: October 7, 2013
View Article titled, Haptic Hand Exoskeleton for Precision Grasp Simulation
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Topics: Cables, Design, Electronics, Engines, Exoskeleton devices, Force sensors, Haptics, Kinematics, Motors, Resolution (Optics)