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Journal Articles

Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints

Yifan Huang, Lei Yan, Taiwei Yang, Zhonghua Hu, Wenfu Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2023, 15(5): 055001.
Paper No: JMR-22-1109
https://doi.org/10.1115/1.4055934
Published Online: November 24, 2022
View Articletitled, Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints
Open the PDF for Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints in another window
Topics: Cables, End effectors, Kinematics, Trajectories (Physics), Design, Motion control
Journal Articles

Design Control and Performance of a Cable-Driving Module With External Encoder and Force Sensor for Cable-Driven Parallel Robots

Hao An, Yongqing Zhang, Han Yuan, Wenfu Xu, Xin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2022, 14(1): 014502.
Paper No: JMR-20-1548
https://doi.org/10.1115/1.4051608
Published Online: August 11, 2021
View Articletitled, Design Control and Performance of a Cable-Driving Module With External Encoder and Force Sensor for Cable-Driven Parallel Robots
Open the PDF for Design Control and Performance of a Cable-Driving Module With External Encoder and Force Sensor for Cable-Driven Parallel Robots in another window
Topics: Cables, Trajectories (Physics), Tension, Robots
Journal Articles

Design and Implementation of a Novel Variable Stiffness Actuator With Cam-Based Relocation Mechanism

Yinghao Ning, Hailin Huang, Wenfu Xu, Weimin Zhang, Bing Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021009.
Paper No: JMR-20-1011
https://doi.org/10.1115/1.4049150
Published Online: January 22, 2021
View Articletitled, Design and Implementation of a Novel Variable Stiffness Actuator With Cam-Based Relocation Mechanism
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Topics: Actuators, Stiffness, Torque, Springs
Journal Articles

Design and Analysis of a High-Payload Manipulator Based on a Cable-Driven Serial-Parallel Mechanism

Fei Liu, Wenfu Xu, Hailin Huang, Yinghao Ning, Bing Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051006.
Paper No: JMR-19-1033
https://doi.org/10.1115/1.4044113
Published Online: July 9, 2019
View Articletitled, Design and Analysis of a High-Payload Manipulator Based on a Cable-Driven Serial-Parallel Mechanism
Open the PDF for Design and Analysis of a High-Payload Manipulator Based on a Cable-Driven Serial-Parallel Mechanism in another window
Topics: Cables, Manipulators, Stiffness, Design, Rotation