Volume 8 Issue 2 | J. Mechanisms Robotics

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Volume 8, Issue 2

April 2016

ISSN 1942-4302

EISSN 1942-4310

Research Papers

A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators

Jun Wu, Binbin Zhang, Liping Wang

J. Mechanisms Robotics. April 2016, 8(2): 021001. doi: https://doi.org/10.1115/1.4031500

Abstract

View articletitled, A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators

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Topics: Manipulators , Dynamic models , Redundant manipulators , Kinematics

Spatial Straight-Line Linkages by Factorization of Motion Polynomials

Zijia Li, Josef Schicho, Hans-Peter Schröcker

J. Mechanisms Robotics. April 2016, 8(2): 021002. doi: https://doi.org/10.1115/1.4031806

Abstract

View articletitled, Spatial Straight-Line Linkages by Factorization of Motion Polynomials

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Topics: Linkages , Polynomials , Trajectories (Physics)

Joint Angle Measurement Using Strategically Placed Accelerometers and Gyroscope

Vishesh Vikas, Carl D. Crane, III

J. Mechanisms Robotics. April 2016, 8(2): 021003. doi: https://doi.org/10.1115/1.4031299

Abstract

View articletitled, Joint Angle Measurement Using Strategically Placed Accelerometers and Gyroscope

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Topics: Accelerometers , Sensors , Universal joints , Microelectromechanical systems , Design , Errors

A Novel Joint Design for Robotic Hands With Humanlike Nonlinear Compliance

Pei-Hsin Kuo, Ashish D. Deshpande

J. Mechanisms Robotics. April 2016, 8(2): 021004. doi: https://doi.org/10.1115/1.4031300

Abstract

View articletitled, A Novel Joint Design for Robotic Hands With Humanlike Nonlinear Compliance

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Topics: Design , Pulleys , Torque , Robotics

Application of Rigid-Body-Linkage Static Balancing Techniques to Reduce Actuation Effort in Compliant Mechanisms

Sangamesh R. Deepak, Amrith N. Hansoge, G. K. Ananthasuresh

J. Mechanisms Robotics. April 2016, 8(2): 021005. doi: https://doi.org/10.1115/1.4031192

Abstract

View articletitled, Application of Rigid-Body-Linkage Static Balancing Techniques to Reduce Actuation Effort in Compliant Mechanisms

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Topics: Compliant mechanisms , Linkages , Springs , Bending (Stress)

Dimensional Synthesis of Wristed Binary Hands

Neda Hassanzadeh, Alba Perez-Gracia

J. Mechanisms Robotics. April 2016, 8(2): 021006. doi: https://doi.org/10.1115/1.4031339

Abstract

View articletitled, Dimensional Synthesis of Wristed Binary Hands

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Topics: Chain , Design , End effectors , Kinematics , Robotics , Topology , Fractals , Grasping

Trackhold: A Novel Passive Arm-Support Device

Basilio Lenzo, Marco Fontana, Simone Marcheschi, Fabio Salsedo, Antonio Frisoli, Massimo Bergamasco

J. Mechanisms Robotics. April 2016, 8(2): 021007. doi: https://doi.org/10.1115/1.4031716

Abstract

View articletitled, Trackhold: A Novel Passive Arm-Support Device

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Topics: Design , Kinematics , Weight (Mass) , End effectors , Sensors , Torsion

Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Rezia Molfino, Matteo Zoppi

J. Mechanisms Robotics. April 2016, 8(2): 021008. doi: https://doi.org/10.1115/1.4031639

Abstract

View articletitled, Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom

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Topics: Linkages , Magnification

Kinematics for an Actuated Flexible n-Manifold

Oded Medina, Amir Shapiro, Nir Shvalb

J. Mechanisms Robotics. April 2016, 8(2): 021009. doi: https://doi.org/10.1115/1.4031301

Abstract

View articletitled, Kinematics for an Actuated Flexible <em>n</em>-Manifold

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Topics: Atomic force microscopy , Kinematics , Manifolds , Robots

A Novel Continuum Robot Using Twin-Pivot Compliant Joints: Design, Modeling, and Validation

Xin Dong, Mark Raffles, Salvador Cobos-Guzman, Dragos Axinte, James Kell

J. Mechanisms Robotics. April 2016, 8(2): 021010. doi: https://doi.org/10.1115/1.4031340

Abstract

View articletitled, A Novel Continuum Robot Using Twin-Pivot Compliant Joints: Design, Modeling, and Validation

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Topics: Cables , Design , Kinematics , Robots , Disks

The Synthesis of the Axodes of RCCC Linkages

Giorgio Figliolini, Pierluigi Rea, Jorge Angeles

J. Mechanisms Robotics. April 2016, 8(2): 021011. doi: https://doi.org/10.1115/1.4031950

Abstract

View articletitled, The Synthesis of the Axodes of RCCC Linkages

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Topics: Linkages , Rotation , Algebra

Design and Evaluation of a Passive Ankle Prosthesis With Powered Push-Off

Jacob J. Rice, Joseph M. Schimmels, Shuguang Huang

J. Mechanisms Robotics. April 2016, 8(2): 021012. doi: https://doi.org/10.1115/1.4031302

Abstract

View articletitled, Design and Evaluation of a Passive Ankle Prosthesis With Powered Push-Off

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Topics: Deflection , Design , Prostheses , Torque , Springs

Trajectory Planning for Micromanipulation With a Nonredundant Digital Microrobot: Shortest Path Algorithm Optimization With a Hypercube Graph Representation

Vincent Chalvet, Yassine Haddab, Philippe Lutz

J. Mechanisms Robotics. April 2016, 8(2): 021013. doi: https://doi.org/10.1115/1.4031807

Abstract

View articletitled, Trajectory Planning for Micromanipulation With a Nonredundant Digital Microrobot: Shortest Path Algorithm Optimization With a Hypercube Graph Representation

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Topics: Algorithms , Robots , Trajectories (Physics) , Micromanipulation , Optimization , Path planning

Motion Analysis of Manipulators With Uncertainty in Kinematic Parameters

Vahid Nazari, Leila Notash

J. Mechanisms Robotics. April 2016, 8(2): 021014. doi: https://doi.org/10.1115/1.4031657

Abstract

View articletitled, Motion Analysis of Manipulators With Uncertainty in Kinematic Parameters

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Topics: Kinematics , Manipulators , Uncertainty

A Spatial Version of Octoidal Gears Via the Generalized Camus Theorem

Giorgio Figliolini, Hellmuth Stachel, Jorge Angeles

J. Mechanisms Robotics. April 2016, 8(2): 021015. doi: https://doi.org/10.1115/1.4031679

Abstract

View articletitled, A Spatial Version of Octoidal Gears Via the Generalized Camus Theorem

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Topics: Gears , Generators , Theorems (Mathematics) , Poles (Building)

Variable Radius Drum Mechanisms

Stefano Seriani, Paolo Gallina

J. Mechanisms Robotics. April 2016, 8(2): 021016. doi: https://doi.org/10.1115/1.4031951

Abstract

View articletitled, Variable Radius Drum Mechanisms

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Topics: Cables , Engineering prototypes , Pulleys , Stress , Kinematic analysis

Motion Analysis of a Foldable Barrel Vault Based on Regular and Irregular Yoshimura Origami

Jianguo Cai, Xiaowei Deng, Yixiang Xu, Jian Feng

J. Mechanisms Robotics. April 2016, 8(2): 021017. doi: https://doi.org/10.1115/1.4031658

Abstract

View articletitled, Motion Analysis of a Foldable Barrel Vault Based on Regular and Irregular Yoshimura Origami

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Topics: Geometry , Plates (structures)

Modeling Large Planar Deflections of Flexible Beams in Compliant Mechanisms Using Chained Beam-Constraint-Model

Fulei Ma, Guimin Chen

J. Mechanisms Robotics. April 2016, 8(2): 021018. doi: https://doi.org/10.1115/1.4031028

Abstract

View articletitled, Modeling Large Planar Deflections of Flexible Beams in Compliant Mechanisms Using Chained Beam-Constraint-Model

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Topics: Compliant mechanisms , Deflection , Modeling , Stress

An Actively Controlled Shape-Morphing Compliant Microarchitectured Material

Lucas A. Shaw, Jonathan B. Hopkins

J. Mechanisms Robotics. April 2016, 8(2): 021019. doi: https://doi.org/10.1115/1.4031168

Abstract

View articletitled, An Actively Controlled Shape-Morphing Compliant Microarchitectured Material

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Topics: Actuators , Design , Shapes , Stress

Novel Configurations for Hybrid Transmissions Using a Simple Planetary Gear Train

Huu-Tich Ngo, Hong-Sen Yan

J. Mechanisms Robotics. April 2016, 8(2): 021020. doi: https://doi.org/10.1115/1.4031952

Abstract

View articletitled, Novel Configurations for Hybrid Transmissions Using a Simple Planetary Gear Train

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Topics: Brakes , Design , Engines , Regenerative braking , Vehicles , Generators , Torque , Motors , Planetary gears , Trains

An Emulator-Based Prediction of Dynamic Stiffness for Redundant Parallel Kinematic Mechanisms

Mario Luces, Pinar Boyraz, Masih Mahmoodi, Farhad Keramati, James K. Mills, Beno Benhabib

J. Mechanisms Robotics. April 2016, 8(2): 021021. doi: https://doi.org/10.1115/1.4031858

Abstract

View articletitled, An Emulator-Based Prediction of Dynamic Stiffness for Redundant Parallel Kinematic Mechanisms

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Topics: Approximation , Displacement , Finite element analysis , Stiffness , Kinematics , Optimization

Planar Deployable Linkage and Its Application in Overconstrained Lift Mechanism

Dong-Jie Zhao, Jing-Shan Zhao, Zheng-Fang Yan

J. Mechanisms Robotics. April 2016, 8(2): 021022. doi: https://doi.org/10.1115/1.4032096

Abstract

View articletitled, Planar Deployable Linkage and Its Application in Overconstrained Lift Mechanism

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Topics: Linkages , Screws , Stiffness , Chain , Deformation , Kinematic chains , Stress , Robots , Plasma spraying , Spraying (Coating processes)

Type Synthesis of a Family of Novel Four, Five, and Six Degrees-of-Freedom Sea Lion Ball Mechanisms With Three Limbs

Rongfu Lin, Weizhong Guo, Feng Gao

J. Mechanisms Robotics. April 2016, 8(2): 021023. doi: https://doi.org/10.1115/1.4032201

Abstract

View articletitled, Type Synthesis of a Family of Novel Four, Five, and Six Degrees-of-Freedom Sea Lion Ball Mechanisms With Three Limbs

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Topics: Degrees of freedom , End effectors , Rotation , Seas , Design , Robots

Design and Implementation of a Distributed Variable Impedance Actuator Using Parallel Linear Springs

Mohammad Hasan H. Kani, Hamed Ali Yaghini Bonabi, Hamed Jalaly Bidgoly, Mohammad Javad Yazdanpanah, Majid Nili Ahmadabadi

J. Mechanisms Robotics. April 2016, 8(2): 021024. doi: https://doi.org/10.1115/1.4032202

Abstract

View articletitled, Design and Implementation of a Distributed Variable Impedance Actuator Using Parallel Linear Springs

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Topics: Actuators , Springs , Design , Torque , Stability

Synthesis and Design of a One Degree-of-Freedom Planar Deployable Mechanism With a Large Expansion Ratio

David St-Onge, Clément Gosselin

J. Mechanisms Robotics. April 2016, 8(2): 021025. doi: https://doi.org/10.1115/1.4032101

Abstract

View articletitled, Synthesis and Design of a One Degree-of-Freedom Planar Deployable Mechanism With a Large Expansion Ratio

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Topics: Belts , Design , Engineering prototypes , Manufacturing , Degrees of freedom , Optimization , Shapes

Climbot: A Bio-Inspired Modular Biped Climbing Robot—System Development, Climbing Gaits, and Experiments

Yisheng Guan, Li Jiang, Haifei Zhu, Wenqiang Wu, Xuefeng Zhou, Hong Zhang, Xiangmin Zhang

J. Mechanisms Robotics. April 2016, 8(2): 021026. doi: https://doi.org/10.1115/1.4028683

Abstract

View articletitled, Climbot: A Bio-Inspired Modular Biped Climbing Robot—System Development, Climbing Gaits, and Experiments

Supplementary data

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Topics: Grippers , Poles (Building) , Robots

A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms

Jingjun Yu, Kang Wu, Guanghua Zong, Xianwen Kong

J. Mechanisms Robotics. April 2016, 8(2): 021027. doi: https://doi.org/10.1115/1.4032403

Abstract

View articletitled, A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms

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Topics: Manipulators , Spin (Aerodynamics) , Spinning (Textile) , Scanning probe microscopy , Disks

Structural Compliance Analysis and Internal Motion Properties of Proteins From a Robot Kinematics Perspective: Formulation of Basic Equations

Keisuke Arikawa

J. Mechanisms Robotics. April 2016, 8(2): 021028. doi: https://doi.org/10.1115/1.4032588

Abstract

View articletitled, Structural Compliance Analysis and Internal Motion Properties of Proteins From a Robot Kinematics Perspective: Formulation of Basic Equations

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Topics: Compliance , Proteins , Robot kinematics , Deformation

Reconfigurable Mechanisms From the Intersection of Surfaces

P. C. López-Custodio, J. M. Rico, J. J. Cervantes-Sánchez, G. I. Pérez-Soto

J. Mechanisms Robotics. April 2016, 8(2): 021029. doi: https://doi.org/10.1115/1.4032097

Abstract

View articletitled, Reconfigurable Mechanisms From the Intersection of Surfaces

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Topics: Bifurcation , Degrees of freedom , Generators , Kinematic chains , Kinematics , Linkages , Mechanical admittance , Screws , Rotation , Open kinematic chains

Technical Brief

Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains

Andrew Johnson, Xianwen Kong, James Ritchie

J. Mechanisms Robotics. April 2016, 8(2): 024501. doi: https://doi.org/10.1115/1.4031656

Abstract

View articletitled, Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains

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Topics: Computer-aided design , Manipulators , Reactor protection systems , Computer software , Chain

Research Papers

A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators

Spatial Straight-Line Linkages by Factorization of Motion Polynomials

Joint Angle Measurement Using Strategically Placed Accelerometers and Gyroscope

A Novel Joint Design for Robotic Hands With Humanlike Nonlinear Compliance

Application of Rigid-Body-Linkage Static Balancing Techniques to Reduce Actuation Effort in Compliant Mechanisms

Dimensional Synthesis of Wristed Binary Hands

Trackhold: A Novel Passive Arm-Support Device

Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom

Kinematics for an Actuated Flexible n-Manifold

A Novel Continuum Robot Using Twin-Pivot Compliant Joints: Design, Modeling, and Validation

The Synthesis of the Axodes of RCCC Linkages

Design and Evaluation of a Passive Ankle Prosthesis With Powered Push-Off

Trajectory Planning for Micromanipulation With a Nonredundant Digital Microrobot: Shortest Path Algorithm Optimization With a Hypercube Graph Representation

Motion Analysis of Manipulators With Uncertainty in Kinematic Parameters

A Spatial Version of Octoidal Gears Via the Generalized Camus Theorem

Variable Radius Drum Mechanisms

Motion Analysis of a Foldable Barrel Vault Based on Regular and Irregular Yoshimura Origami

Modeling Large Planar Deflections of Flexible Beams in Compliant Mechanisms Using Chained Beam-Constraint-Model

An Actively Controlled Shape-Morphing Compliant Microarchitectured Material

Novel Configurations for Hybrid Transmissions Using a Simple Planetary Gear Train

An Emulator-Based Prediction of Dynamic Stiffness for Redundant Parallel Kinematic Mechanisms

Planar Deployable Linkage and Its Application in Overconstrained Lift Mechanism

Type Synthesis of a Family of Novel Four, Five, and Six Degrees-of-Freedom Sea Lion Ball Mechanisms With Three Limbs

Design and Implementation of a Distributed Variable Impedance Actuator Using Parallel Linear Springs

Synthesis and Design of a One Degree-of-Freedom Planar Deployable Mechanism With a Large Expansion Ratio

Climbot: A Bio-Inspired Modular Biped Climbing Robot—System Development, Climbing Gaits, and Experiments

A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms

Structural Compliance Analysis and Internal Motion Properties of Proteins From a Robot Kinematics Perspective: Formulation of Basic Equations

Reconfigurable Mechanisms From the Intersection of Surfaces

Technical Brief

Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains

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