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Journal Articles

Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator

Xuyang Duan, Wei Yan, Tianyi Yan, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011004.
Paper No: JMR-24-1033
https://doi.org/10.1115/1.4065563
Published Online: June 18, 2024
View Article titled, Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator
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Topics: Deflection, Design, End effectors, Engineering prototypes, Errors, Finite element analysis, Manipulators, Modeling, Servomotors, Trajectories (Physics)
Journal Articles

Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism

Hao Pan, Shujie Tang, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071015.
Paper No: JMR-23-1104
https://doi.org/10.1115/1.4063870
Published Online: November 14, 2023
View Article titled, Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism
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Topics: End effectors, Force control, Parallel mechanisms, Statics, Stiffness, Jacobian matrices, Simulation, Rods, Kinematics
Journal Articles

Analysis and Validation of a Flexible Limb/Cable Hybrid-Driven Parallel Continuum Manipulator

Yezheng Kang, Zhenkun Liang, Tianyi Yan, Xuyang Duan, Hao Wang, Joachim Seidelmann, Genliang Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061010.
Paper No: JMR-23-1122
https://doi.org/10.1115/1.4063289
Published Online: October 4, 2023
View Article titled, Analysis and Validation of a Flexible Limb/Cable Hybrid-Driven Parallel Continuum Manipulator
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Topics: Cables, End effectors, Kinematics, Manipulators, Stress, Modeling, Engineering prototypes, Robots
Proceedings Papers

A Comprehensive Numerical Study on the Number of Identifiable Kinematic Parameters of Parallel Mechanisms

Lingyu Kong, Genliang Chen, Guanyu Huang, Sumian Song, Anhuan Xie, Dan Zhang
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A034, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70723
https://doi.org/10.1115/DETC2021-70723
View Paper titled, A Comprehensive Numerical Study on the Number of Identifiable Kinematic Parameters of Parallel Mechanisms
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Topics: Kinematics, Parallel mechanisms, Errors, Calibration, Manipulators, Modeling, Topology
Journal Articles

Design and Validation of A Novel Planar 2R1T Remote Center-of-motion Mechanism Composing of Dual-Triangular and Straight-Line Linkages

Accepted Manuscript
Genliang Chen, Yuanhao Xun, Yuchen Chai, Siyue Yao, Chao Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-21-1259
https://doi.org/10.1115/1.4052339
Published Online: September 2, 2021
View Article titled, Design and Validation of A Novel Planar 2R1T Remote Center-of-motion Mechanism Composing of Dual-Triangular and Straight-Line Linkages
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Topics: Design, Linkages
Journal Articles

Wireless Multiplexing Control Based on Magnetic Coupling Resonance and Its Applications in Robot

Jue Wang, Genliang Chen, Zhuang Zhang, Jiaqi Suo, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011009.
Paper No: JMR-21-1101
https://doi.org/10.1115/1.4051357
Published Online: July 13, 2021
View Article titled, Wireless Multiplexing Control Based on Magnetic Coupling Resonance and Its Applications in Robot
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Topics: Robots, Pipes, Resonance
Journal Articles

Design and Kinematic Analysis of a Flexible-Link Parallel Mechanism With a Spatially Quasi-Translational End Effector

Hao Pan, Genliang Chen, Yezheng Kang, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011022.
Paper No: JMR-20-1144
https://doi.org/10.1115/1.4048754
Published Online: November 19, 2020
View Article titled, Design and Kinematic Analysis of a Flexible-Link Parallel Mechanism With a Spatially Quasi-Translational End Effector
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Topics: Design, End effectors, Kinematics, Parallel mechanisms, Rods, Deformation, Wheels
Proceedings Papers

Complete, Minimal and Continuous Kinematic Error Models of Perfect Multi-DOF Joints for Parallel Manipulators

Lingyu Kong, Genliang Chen, Zhuang Zhang, Anhuan Xie, Hao Wang, Dan Zhang
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A023, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22328
https://doi.org/10.1115/DETC2020-22328
View Paper titled, Complete, Minimal and Continuous Kinematic Error Models of Perfect Multi-DOF Joints for Parallel Manipulators
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Topics: Errors, Kinematics, Manipulators, Calibration, Manufacturing, Ceramic matrix composites, Chain, Computer simulation, Cylinders, Degrees of freedom
Proceedings Papers

Wireless Power and SIMO Control Based on Magnetic Coupling Resonance Using in Delta Robot

Jue Wang, Genliang Chen, Hao Wang
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A003, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97174
https://doi.org/10.1115/DETC2019-97174
View Paper titled, Wireless Power and SIMO Control Based on Magnetic Coupling Resonance Using in Delta Robot
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Topics: Resonance, Robots, Linkages, Control systems, Feedback, Manufacturing, Motors, Open loop systems, Position control
Journal Articles

Analysis and Validation of a Flexible Planar Two Degrees-of-Freedom Parallel Manipulator With Structural Passive Compliance

Genliang Chen, Zhuang Zhang, Lingyu Kong, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011011.
Paper No: JMR-18-1420
https://doi.org/10.1115/1.4045036
Published Online: October 18, 2019
View Article titled, Analysis and Validation of a Flexible Planar Two Degrees-of-Freedom Parallel Manipulator With Structural Passive Compliance
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Topics: End effectors, Manipulators, Deflection, Flexible manipulators
Journal Articles

Realizing Controllable Physical Interaction Based on an Electromagnetic Variable Stiffness Joint

Jue Yu, Yong Zhao, Genliang Chen, Yeqing Gu, Chao Wang, Shunzhou Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 054501.
Paper No: JMR-18-1300
https://doi.org/10.1115/1.4044002
Published Online: July 8, 2019
View Article titled, Realizing Controllable Physical Interaction Based on an Electromagnetic Variable Stiffness Joint
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Topics: Deflection, Force control, Stiffness, Engineering prototypes, Errors
Proceedings Papers

Design and Analysis of a Cross Trapezoid Spatial Compliant Device With Variable Stiffness

Zhuang Zhang, Genliang Chen, Lingyu Kong, Hao Wang
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A037, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85691
https://doi.org/10.1115/DETC2018-85691
View Paper titled, Design and Analysis of a Cross Trapezoid Spatial Compliant Device With Variable Stiffness
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Topics: Design, Stiffness, Springs, Linkages, Collisions (Physics), Compliance, Computer simulation, Deflection, Finishes, Switches
Journal Articles

A New Type of Planar Two Degree-of-Freedom Remote Center-of-Motion Mechanism Inspired by the Peaucellier–Lipkin Straight-Line Linkage

Genliang Chen, Jiepeng Wang, Hao Wang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. January 2019, 141(1): 015001.
Paper No: MD-18-1203
https://doi.org/10.1115/1.4041221
Published Online: October 8, 2018
View Article titled, A New Type of Planar Two Degree-of-Freedom Remote Center-of-Motion Mechanism Inspired by the Peaucellier–Lipkin Straight-Line Linkage
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Topics: Degrees of freedom, End effectors, Engineering prototypes, Kinematics, Linkages, Surgery
Journal Articles

Design of a Spatial Translation Mechanism by Optimizing Spatial Ground Structures and Its Kinematic Analysis

Weidong Yu, Hao Wang, Genliang Chen, Longhai Zhao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. August 2018, 140(8): 082304.
Paper No: MD-18-1033
https://doi.org/10.1115/1.4040269
Published Online: June 1, 2018
View Article titled, Design of a Spatial Translation Mechanism by Optimizing Spatial Ground Structures and Its Kinematic Analysis
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Topics: Design, Mechanical admittance, Kinematics, Kinematic analysis, Engineering prototypes, Optimization
Journal Articles

A General Approach to the Large Deflection Problems of Spatial Flexible Rods Using Principal Axes Decomposition of Compliance Matrices

Genliang Chen, Zhuang Zhang, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031012.
Paper No: JMR-17-1331
https://doi.org/10.1115/1.4039223
Published Online: April 5, 2018
View Article titled, A General Approach to the Large Deflection Problems of Spatial Flexible Rods Using Principal Axes Decomposition of Compliance Matrices
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Topics: Deflection, Equilibrium (Physics), Rods, Stiffness, Compliant mechanisms, Stress, Approximation, Modeling
Journal Articles

Identification of Canonical Basis of Screw Systems Using General-Special Decomposition

Genliang Chen, Hao Wang, Zhongqin Lin, Xinmin Lai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. June 2018, 10(3): 034501.
Paper No: JMR-15-1194
https://doi.org/10.1115/1.4039218
Published Online: April 5, 2018
View Article titled, Identification of Canonical Basis of Screw Systems Using General-Special Decomposition
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Topics: Screws
Proceedings Papers

A Lie Group Formulation of the Newton-Euler Equations and its Application to Robot Dynamics

Genliang Chen, Hao Wang, Yong Zhong, Haidong Yu
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A021, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47221
https://doi.org/10.1115/DETC2015-47221
View Paper titled, A Lie Group Formulation of the Newton-Euler Equations and its Application to Robot Dynamics
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Topics: Robot dynamics, Screws, Dynamics (Mechanics), Kinematics, Lie algebras, Robot kinematics, Robots, Rotation, System dynamics, Virtual work principle
Journal Articles

Design of an Actuation Device With the Capability of Automatically Distributing External Load Based on Stability Theorems

Hao Wang, Lingyu Kong, Genliang Chen, Yong Zhao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. August 2015, 137(8): 085001.
Paper No: MD-14-1714
https://doi.org/10.1115/1.4030426
Published Online: August 1, 2015
View Article titled, Design of an Actuation Device With the Capability of Automatically Distributing External Load Based on Stability Theorems
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Topics: Manipulators, Stability, Stress, Theorems (Mathematics), Equilibrium (Physics), Design, Potential energy
Proceedings Papers

Kineto-Static Stiffness Mapping Based on Finite Element Analysis for Robot Manipulators

Kai Zhao, Genliang Chen, Hao Wang, Yong Zhao
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 1069-1077, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87046
https://doi.org/10.1115/DETC2009-87046
View Paper titled, Kineto-Static Stiffness Mapping Based on Finite Element Analysis for Robot Manipulators
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Topics: Finite element analysis, Manipulators, Stiffness, Stress, Deformation, Kinematics, Actuators, Damping, Dynamics (Mechanics), End effectors
Proceedings Papers

A Kind of Kinematically Redundant Planar Parallel Manipulator for Optimal Output Accuracy

Genliang Chen, Hao Wang, Yong Zhao, Zhongqin Lin
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 475-483, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86184
https://doi.org/10.1115/DETC2009-86184
View Paper titled, A Kind of Kinematically Redundant Planar Parallel Manipulator for Optimal Output Accuracy
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Topics: Manipulators, Errors, End effectors, Dimensions, Kinematics, Redundancy (Engineering), Redundant manipulators, Trajectories (Physics)