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Keywords: kinematics
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Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021002.
Paper No: JMR-21-1190
Published Online: September 20, 2021
... mechanisms mechanism synthesis parallel platforms kinematics Table 1 Two typical initial configurations of the manipulator for the end-point ( x 0, y 0) = (7.7 b , 0) Initial shape Initial configuration angles q 1 q 2 q 3 q 4 Case #1 U -shape ‒0.3093...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2022, 14(2): 024504.
Paper No: JMR-20-1626
Published Online: September 20, 2021
... Kinematics Problem of Delta Parallel Robot ,” Mechanika , 17 ( 3 ), pp. 296 – 299 . 10.5755/j01.mech.17.3.506 Email: duanjh_98@163.com Email: shaozf@mail.tsinghua.edu.cn Email: zzk15@mails.tsinghua.edu.cn Email: pfz18@mails.tsinghua.edu.cn Contributed by the Mechanisms...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061007.
Paper No: JMR-20-1563
Published Online: June 3, 2021
... 2020 20 03 2021 24 03 2021 03 06 2021 kinematics position analysis parallel manipulators lower mobility translational manipulators theoretical kinematics Parallel manipulators (PMs) feature two rigid bodies, one movable (platform) and the other fixed (base), connected...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011012.
Paper No: JMR-19-1520
Published Online: October 7, 2020
... node modules only have translational motions, which can significantly reduce the complexity of kinematics. The forward and inverse kinematics are conducted to show the deformation properties. Based on the kinematic rolling principle, the morphing strategies for rolling and turning functions...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011001.
Paper No: JMR-20-1071
Published Online: August 6, 2020
... of the reference anatomy is concerned in the first optimization stage. Two different kinematic manipulability measures are utilized to form the objective function of the genetic algorithm (GA) used. Determination of the optimal anatomy for each task execution is concerned in the second stage. All feasible...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051012.
Paper No: JMR-20-1013
Published Online: May 11, 2020
.... First, these PPMs are denoted by a set of independent loops using a topological structural analysis of the kinematic chains and structural decomposition. Then, the relationship between the mobility factor and the loop factor in the same independent loop is utilized to obtain the folded or stretched...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011001.
Paper No: JMR-19-1100
Published Online: October 9, 2019
...Chuanyang Li; Hongwei Guo; Dewei Tang; Huiyin Yan; Rongqiang Liu; Zongquan Deng Space manipulation has great prospects in aerospace applications. In this work, a multiloop robot, namely 3-R(SRS)RP multiloop mechanism, is presented. Its design, kinematics, singularity, and workspace are studied...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2019, 11(6): 064501.
Paper No: JMR-19-1012
Published Online: September 25, 2019
...Chunsong Zhang; Chi Zhang; Jian S. Dai; Peng Qi To date, most quadruped robots are either equipped with trunks that are rigid bodies or consist of blocks connected by passive joints. The kinematic performance of these quadruped robots is only determined by their legs. To release the mobility...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061002.
Paper No: JMR-15-1334
Published Online: June 10, 2016
...Yuanxi Sun; Wenjie Ge; Jia Zheng; Dianbiao Dong This paper presents a systematic solution of the kinematics of the planar mechanism from the aspect of Assur groups. When the planar mechanism is decomposed into Assur groups, the detailed calculating order of Assur groups is unknown. To solve...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041010.
Paper No: JMR-14-1052
Published Online: November 1, 2015
... machines used for the wear testing of hip joint prosthesis is 1 Hz ± 0.1 Hz and the ranges of the FE, AA, and IER motions are −18 deg–25 deg, −4 deg–7 deg, and −10 deg–2 deg, respectively. In the kinematic analysis, motion frequency of the manipulator is set as 1 Hz. The angular movement laws recommended...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2014, 6(3): 031002.
Paper No: JMR-13-1057
Published Online: April 3, 2014
...-symmetric Bricard 6R linkage, which are line-symmetric in geometry conditions, kinematic variables and spatial configurations. The revised general line-symmetric Bricard 6R linkage differs from the original linkage with negatively equaled offsets on the opposite joints. Further analysis shows...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2012, 4(4): 041011.
Published Online: September 17, 2012
...Chao Chen; Thibault Gayral; Stéphane Caro; Damien Chablat; Guillaume Moroz; Sajeeva Abeywardena A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2012, 4(4): 041003.
Published Online: August 10, 2012
... β ), and ( s α + β , c α + β ) to denote the sines and cosines of α, β, and (α + β), respectively. Then, the forward kinematics of a general 3-R P ¯ R manipulator is defined by the system of equations 1 x 2 + y 2 - ρ 1 2 = 0 ( x + d...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2012, 4(3): 034502.
Published Online: July 3, 2012
...Lei Cui; Jian S. Dai With a new type of multifingered hands that raise a new philosophy in the construction and study of a multifingered hand, this paper is a follow-on study of the kinematics of the metamorphic multifingered hand based on finger constraint equations. The finger constraint...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. May 2012, 4(2): 021012.
Published Online: April 25, 2012
... in Table 1 . The poses of PM i ( i  = 1, 2, …, 5) are solved from Eqs. 24 , 28 , 31 , see Table 2 . The results show that the single PS + RPS + SPS PM have four solutions. By using cad software, the simulation mechanism can be created [( 13 )], and the forward kinematic can also be solved...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2011, 3(4): 041003.
Published Online: September 26, 2011
... is a 3D mechanism with one degree of freedom which can replicate the passive motion of the whole knee joint inclusive of the patella. A comparison with experimental data show the accuracy of the proposed mechanism. The complete kinematic model of the knee in passive flexion is represented in Fig. 2...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2011, 3(4): 041001.
Published Online: September 26, 2011
...A. Weiss; R. G. Langlois; M. J. D. Hayes This paper presents a general approach to the kinematics of an orientation motion platform utilizing a sphere actuated by omnidirectional wheels. The number and type of the omnidirectional wheels, as well as their position and orientation relative...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2011, 3(3): 031008.
Published Online: August 10, 2011
... of flexure mechanisms simple, complete, and effective. What is more significant is that the proposed approach makes the unified type synthesis of both constraint-based and kinematics-based flexure mechanisms available. That is also the new contribution to the flexure de-sign. Freedom-based approach...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011005.
Published Online: November 30, 2010
...Yi Lu; Bo Hu; Jianda Han; Jianping Yu To solve the velocity and acceleration of legs with different structures is a fundamental and challenging issue for dynamics analysis of parallel manipulators (PMs). In this paper, the kinematics of linear legs with different structures for limited-degree...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041013.
Published Online: October 14, 2010
...Chintien Huang; Wuchang Kuo; Bahram Ravani In the two position theory of finite kinematics, we are concerned with not only the displacement of a rigid body, but also with the displacement of a certain element of the body. This paper deals with the displacement of a line and unveils the regulus...