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Volume 15, Issue 4

August 2023

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ISSN 1942-4302

EISSN 1942-4310

In this Issue

Review Article
Research Papers
Design Innovation Paper

Review Article

A Review of Cuspidal Serial and Parallel Manipulators

Philippe Wenger, Damien Chablat

J. Mechanisms Robotics. August 2023, 15(4): 040801. doi: https://doi.org/10.1115/1.4055677

Abstract

View articletitled, A Review of Cuspidal Serial and Parallel Manipulators

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Topics: Robots

Research Papers

Multi-Keel Passive Prosthetic Foot Design Optimization Using the Lower Leg Trajectory Error Framework

Victor Prost, Heidi V. Peterson, Amos G. Winter V

J. Mechanisms Robotics. August 2023, 15(4): 041001. doi: https://doi.org/10.1115/1.4055107

Abstract

View articletitled, Multi-Keel Passive Prosthetic Foot Design Optimization Using the Lower Leg Trajectory Error Framework

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Topics: Artificial limbs , Design , Keel , Stress , Constitutive equations , Optimization , Engineering standards , Prostheses

Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm

Lei Wang, Liang Sun, Gaohong Yu, Yuzhu Zhou

J. Mechanisms Robotics. August 2023, 15(4): 041002. doi: https://doi.org/10.1115/1.4055058

Abstract

View articletitled, Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm

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Topics: Design , Gears , Optimization , Planetary gears , Trains , Algorithms , Errors , Rotation

Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions

Kefei Wen, Jessica Burgner-Kahrs

J. Mechanisms Robotics. August 2023, 15(4): 041003. doi: https://doi.org/10.1115/1.4055062

Abstract

View articletitled, Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions

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Topics: Kinematics , Modeling , Robots , Tendons

Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger

Chun-Tse Lee, Jen-Yuan (James) Chang

J. Mechanisms Robotics. August 2023, 15(4): 041004. doi: https://doi.org/10.1115/1.4055061

Abstract

View articletitled, Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger

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Topics: Design , Grasping , Motors , Robotics , Stiffness , Tendons , Springs , Engines , Torsion

A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot

Wenqian Du, Mohamed Fnadi, Faïz Benamar

J. Mechanisms Robotics. August 2023, 15(4): 041005. doi: https://doi.org/10.1115/1.4055060

Abstract

View articletitled, A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot

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Topics: Control equipment , Dynamics (Mechanics) , Generators , Robots , Torque , Wheels , Kinematics , Surface roughness , Geometry

Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator

Jianfeng Lin, Chenkun Qi, Feng Gao, Yi Yue, Yan Hu, Baochen Wei

J. Mechanisms Robotics. August 2023, 15(4): 041006. doi: https://doi.org/10.1115/1.4055165

Abstract

View articletitled, Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator

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Topics: Bending (Stress) , Manipulators , Modeling

An Energy-Saving Snake Locomotion Pattern Learned in a Physically Constrained Environment With Online Model-Based Policy Gradient Method

Yilang Liu, Amir Barati Farimani

J. Mechanisms Robotics. August 2023, 15(4): 041007. doi: https://doi.org/10.1115/1.4055167

Abstract

View articletitled, An Energy-Saving Snake Locomotion Pattern Learned in a Physically Constrained Environment With Online Model-Based Policy Gradient Method

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Topics: Robots , Gradient methods

Kinematic Analysis and Workspace Investigation of Novel 3-RPS/(H) Metamorphic Parallel Mechanism

Hai-bo Tian, Cheng-yu Wang, Hong-wei Ma, Jing Xia

J. Mechanisms Robotics. August 2023, 15(4): 041008. doi: https://doi.org/10.1115/1.4055254

Abstract

View articletitled, Kinematic Analysis and Workspace Investigation of Novel 3-RPS/(H) Metamorphic Parallel Mechanism

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Topics: Parallel mechanisms , Reactor protection systems , Screws , Kinematic analysis

Evaluation on Redundancy-Induced Rigidity Enhancement of a Parallel Manipulator

Han-liang Fang, Teng-fei Tang, Zhen He, Jun Zhang

J. Mechanisms Robotics. August 2023, 15(4): 041009. doi: https://doi.org/10.1115/1.4055253

Abstract

View articletitled, Evaluation on Redundancy-Induced Rigidity Enhancement of a Parallel Manipulator

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Topics: Stiffness , Manipulators

Symmetric Kinetostatic Behavior From Asymmetric Spatially Curved Beams

Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder

J. Mechanisms Robotics. August 2023, 15(4): 041010. doi: https://doi.org/10.1115/1.4055419

Abstract

View articletitled, Symmetric Kinetostatic Behavior From Asymmetric Spatially Curved Beams

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Topics: Optimization , Shapes

A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper

Omer Faruk Argin, Ozan Kaya, Zeki Yagiz Bayraktaroglu, Seniz Ertugrul

J. Mechanisms Robotics. August 2023, 15(4): 041011. doi: https://doi.org/10.1115/1.4055570

Abstract

View articletitled, A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper

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Topics: Actuators , Grippers , Haptics , Manipulators

A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress

Jinlu Ni, Jiangping Mei, Yabin Ding, Dongxing Yu, Yunrui Duan, Yuxin Le

J. Mechanisms Robotics. August 2023, 15(4): 041012. doi: https://doi.org/10.1115/1.4055571

Abstract

View articletitled, A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress

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Topics: Dynamics (Mechanics) , Robots , Stress , Trajectories (Physics) , Kinematics , Deformation , B-splines

Realization of a Gear-Spring Balancer With Variable Payloads and Its Application to Serial Robots

Vu Linh Nguyen

J. Mechanisms Robotics. August 2023, 15(4): 041013. doi: https://doi.org/10.1115/1.4055739

Abstract

View articletitled, Realization of a Gear-Spring Balancer With Variable Payloads and Its Application to Serial Robots

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Topics: Design , Gears , Robots , Springs , Torque , Actuators , Stiffness

Sensitivity Analysis and Accuracy Synthesis of a Deployable Antenna Considering Clearances and Link Tolerances

Jianzhong Ding, Yang Dong, Xueao Liu, Chunjie Wang

J. Mechanisms Robotics. August 2023, 15(4): 041014. doi: https://doi.org/10.1115/1.4055740

Abstract

View articletitled, Sensitivity Analysis and Accuracy Synthesis of a Deployable Antenna Considering Clearances and Link Tolerances

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Topics: Errors

Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

Weixing Chen, Yu Wen, Xiaochuan Tong, Chaoxiong Lin, Jiang Li, Shuyou Wang, Wei Xie, Lifeng Mao, Xianchao Zhao, Weidong Zhang, Feng Gao

J. Mechanisms Robotics. August 2023, 15(4): 041015. doi: https://doi.org/10.1115/1.4062177

Abstract

View articletitled, Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

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Topics: Actuators , Control equipment , Inertia (Mechanics) , Ships , Waves , Dynamics (Mechanics) , Design , Stress , Errors , Dynamic models

A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators

Ziying Lin, Lingmin Xu, Ye Ding, Xiangyang Zhu

J. Mechanisms Robotics. August 2023, 15(4): 041016. doi: https://doi.org/10.1115/1.4062304

Abstract

View articletitled, A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators

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Topics: Design , Kinematics , Manipulators , Redundancy (Engineering) , Stiffness , Actuators , Linkages , Mechanical admittance , Optimization

Design Innovation Paper

A Novel Design of a Multi-Fingered Bionic Hand With Variable Stiffness for Robotic Grasp

Xizhe Zang, Chao Wang, Pu Zhang, Gangfeng Liu, Xuehe Zhang, Jie Zhao

J. Mechanisms Robotics. August 2023, 15(4): 045001. doi: https://doi.org/10.1115/1.4055252

Abstract

View articletitled, A Novel Design of a Multi-Fingered Bionic Hand With Variable Stiffness for Robotic Grasp

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Topics: Design , Grasping , Robotics , Stiffness , Springs , Bionics , Robots

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