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Journal Articles

Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section

Christian DeBuys, Florin C. Ghesu, Jagadeesan Jayender, Reza Langari, Young-Ho Kim
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061019.
Paper No: JMR-22-1604
DOI: https://doi.org/10.1115/1.4062354
Published Online: May 2, 2023
View Article titled, Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section
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Topics: Errors, Kinematics, Manipulators, Tendons, Tension, Robots, Design
Journal Articles

Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation

Justin Quan, Dennis Hong
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031009.
Paper No: JMR-22-1267
DOI: https://doi.org/10.1115/1.4062150
Published Online: April 18, 2023
View Article titled, Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation
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Topics: End effectors, Kinematics, Mechanical admittance, Springs, Stress, Design, Shapes, Weight (Mass), Mobile robots, Engineering prototypes
Journal Articles

Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator

Cole Woods, Vishesh Vikas
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031006.
Paper No: JMR-22-1273
DOI: https://doi.org/10.1115/1.4056959
Published Online: March 28, 2023
View Article titled, Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator
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Topics: Design, Manipulators, Manufacturing, Modeling, String, Tensegrity, Screws, Tension, Tendons
Journal Articles

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064502.
Paper No: JMR-22-1356
DOI: https://doi.org/10.1115/1.4056502
Published Online: January 23, 2023
View Article titled, Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
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Topics: Cables, Calibration, Degrees of freedom, Design, Laparoscopic devices, Robotics, Robots, Surgery, Motion control, Finite element analysis
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
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2022, 14(1): 014502.
Paper No: JMR-20-1548
DOI: https://doi.org/10.1115/1.4051608
Published Online: August 11, 2021
View Article titled, Design Control and Performance of a Cable-Driving Module With External Encoder and Force Sensor for Cable-Driven Parallel Robots
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Topics: Cables, Trajectories (Physics), Tension, Robots
Journal Articles

Analysis of Reachable Workspace for Spatial Three-Cable Under-Constrained Suspended Cable-Driven Parallel Robots

Yijia Peng, Wanghui Bu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061002.
Paper No: JMR-20-1399
DOI: https://doi.org/10.1115/1.4050469
Published Online: May 31, 2021
View Article titled, Analysis of Reachable Workspace for Spatial Three-Cable Under-Constrained Suspended Cable-Driven Parallel Robots
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Topics: Cables, Robots, Tension, Computation
Journal Articles

Theoretical and Experimental Study on Active Stiffness Control of a Two-Degrees-of-Freedom Rope-Driven Parallel Mechanism

Haiyu Gu, Cheng Wei, Zeming Zhang, Yang Zhao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011018.
Paper No: JMR-20-1045
DOI: https://doi.org/10.1115/1.4048751
Published Online: November 16, 2020
View Article titled, Theoretical and Experimental Study on Active Stiffness Control of a Two-Degrees-of-Freedom Rope-Driven Parallel Mechanism
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Topics: Ropes, Stiffness, Tension, Simulation, Friction
Journal Articles

Master Device With Bending Safety for Flexible Surgical Robots

Daekeun Ji, Seongbo Shim, Seunguk Kim, Sanghyun Joung, Jaesung Hong
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061003.
Paper No: JMR-19-1468
DOI: https://doi.org/10.1115/1.4046996
Published Online: May 11, 2020
View Article titled, Master Device With Bending Safety for Flexible Surgical Robots
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Topics: Robots, Surgery, Wire, Tension, Design, Kinematics
Journal Articles

Workspace Analysis and Optimal Design of a Translational Cable-Driven Parallel Robot With Passive Springs

Zhaokun Zhang, Zhufeng Shao, Fazhong Peng, Haisheng Li, Liping Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051005.
Paper No: JMR-19-1333
DOI: https://doi.org/10.1115/1.4046030
Published Online: March 13, 2020
View Article titled, Workspace Analysis and Optimal Design of a Translational Cable-Driven Parallel Robot With Passive Springs
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Topics: Cables, Design, Robots, Springs, Tension, Stiffness
Journal Articles

Dynamic Point-To-Point Trajectory Planning for Three Degrees-of-Freedom Cable-Suspended Parallel Robots Using Rapidly Exploring Random Tree Search

Sheng Xiang, Haibo Gao, Zhen Liu, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041007.
Paper No: JMR-19-1294
DOI: https://doi.org/10.1115/1.4045848
Published Online: March 6, 2020
View Article titled, Dynamic Point-To-Point Trajectory Planning for Three Degrees-of-Freedom Cable-Suspended Parallel Robots Using Rapidly Exploring Random Tree Search
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Topics: Algorithms, Cables, Robots, Trajectories (Physics), Tension
Journal Articles

Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots

Tahir Rasheed, Philip Long, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031009.
Paper No: JMR-19-1155
DOI: https://doi.org/10.1115/1.4045423
Published Online: January 14, 2020
View Article titled, Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots
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Topics: Cables, Equilibrium (Physics), Tension, Robots
Journal Articles

A Bird-Inspired Perching Landing Gear System

Paul M. Nadan, Tatiana M. Anthony, Duncan M. Michael, Jeffrey B. Pflueger, Manik S. Sethi, Kelli N. Shimazu, Mindy Tieu, Christopher L. Lee
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 061002.
Paper No: JMR-19-1067
DOI: https://doi.org/10.1115/1.4044416
Published Online: September 30, 2019
View Article titled, A Bird-Inspired Perching Landing Gear System
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Topics: Cross section (Physics), Design, Engineering prototypes, Gears, Grasping, Linkages, Simulation, Tendons, Tension, Unmanned aerial vehicles
Includes: Multimedia, Supplementary data
Journal Articles

Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles

Julian Erskine, Abdelhamid Chriette, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020909.
Paper No: JMR-18-1377
DOI: https://doi.org/10.1115/1.4042513
Published Online: February 22, 2019
View Article titled, Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles
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Topics: Cables, Tension, Thrust
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
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061002.
Paper No: JMR-18-1030
DOI: 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

Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model

Sana Baklouti, Eric Courteille, Stéphane Caro, Mohamed Dkhil
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061014.
Paper No: JMR-17-1029
DOI: https://doi.org/10.1115/1.4038068
Published Online: October 12, 2017
View Article titled, Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model
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Topics: Cables, Tension, End effectors, Elastic moduli
Journal Articles

A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

Anzhu Gao, Yun Zou, Zhidong Wang, Hao Liu
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041019.
Paper No: JMR-16-1342
DOI: https://doi.org/10.1115/1.4036719
Published Online: June 14, 2017
View Article titled, A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators
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Topics: Friction, Tendons, Tension, Deflection, Shapes, Manipulators
Journal Articles

Orientation Workspace and Stiffness Optimization of Cable-Driven Parallel Manipulators With Base Mobility

Michael Anson, Aliakbar Alamdari, Venkat Krovi
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031011.
Paper No: JMR-16-1196
DOI: https://doi.org/10.1115/1.4035988
Published Online: March 23, 2017
View Article titled, Orientation Workspace and Stiffness Optimization of Cable-Driven Parallel Manipulators With Base Mobility
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Topics: Cables, Kinematics, Stiffness, Tension, Redundancy (Engineering), Manipulators, Mechanical admittance, Optimization
Journal Articles

Soft Origami: Classification, Constraint, and Actuation of Highly Compliant Origami Structures

Charles M. Wheeler, Martin L. Culpepper
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051012.
Paper No: JMR-15-1262
DOI: https://doi.org/10.1115/1.4032472
Published Online: May 4, 2016
View Article titled, Soft Origami: Classification, Constraint, and Actuation of Highly Compliant Origami Structures
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Topics: Actuators, Buckling, Degrees of freedom, Design, Failure, Hinges, Membranes, Stress, Tension, Deflection
Journal Articles

Design and Analysis of a Cable-Driven Articulated Rehabilitation System for Gait Training

Aliakbar Alamdari, Venkat Krovi
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051018.
Paper No: JMR-15-1266
DOI: https://doi.org/10.1115/1.4032274
Published Online: May 4, 2016
View Article titled, Design and Analysis of a Cable-Driven Articulated Rehabilitation System for Gait Training
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Topics: Cables, Design, Control equipment, Ropes, Trajectories (Physics), Tension
Journal Articles

On the Solution Set for Positive Wire Tension With Uncertainty in Wire-Actuated Parallel Manipulators

Leila Notash
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2016, 8(4): 044506.
Paper No: JMR-15-1288
DOI: https://doi.org/10.1115/1.4032593
Published Online: March 25, 2016
View Article titled, On the Solution Set for Positive Wire Tension With Uncertainty in Wire-Actuated Parallel Manipulators
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Topics: Manipulators, Tension, Wire, Jacobian matrices, Uncertainty