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Journal Articles

Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061017.
Paper No: JMR-23-1773
https://doi.org/10.1115/1.4065234
Published Online: April 24, 2024
View Article titled, Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics
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Topics: Kinematics, Manifolds, Manipulators, Manufacturing, Redundant manipulators, Redundancy (Engineering), Dynamics (Mechanics), Manipulator dynamics, Resolution (Optics)
Journal Articles

Exploiting the Kinematic Redundancy of a (6 + 3)-Degree-of-Freedom Parallel Manipulator to Produce Unlimited Rotation of the Platform

Arda Yiğit, David Breton, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071004.
Paper No: JMR-22-1624
https://doi.org/10.1115/1.4063407
Published Online: October 16, 2023
View Article titled, Exploiting the Kinematic Redundancy of a (6 + 3)-Degree-of-Freedom Parallel Manipulator to Produce Unlimited Rotation of the Platform
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Topics: Design, Kinematics, Redundancy (Engineering), Robots, Rotation, Path planning, Manipulators
Journal Articles

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

Ziying Lin, Lingmin Xu, Ye Ding, Xiangyang Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041016.
Paper No: JMR-22-1382
https://doi.org/10.1115/1.4062304
Published Online: May 2, 2023
View Article titled, 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
Journal Articles

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031007.
Paper No: JMR-22-1497
https://doi.org/10.1115/1.4056830
Published Online: March 27, 2023
View Article titled, Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot
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Topics: Kinematics, Optimization, Robots, Trajectories (Physics), Redundancy (Engineering)
Journal Articles

Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform

Bahman Nouri Rahmat Abadi, Juan A. Carretero
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021004.
Paper No: JMR-21-1558
https://doi.org/10.1115/1.4054614
Published Online: June 21, 2022
View Article titled, Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform
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Topics: Actuators, Grasping, Kinematics, Parallel mechanisms, Path planning, Redundancy (Engineering), Trajectories (Physics), Kinematic analysis, Artificial neural networks
Journal Articles

Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011011.
Paper No: JMR-20-1533
https://doi.org/10.1115/1.4051132
Published Online: July 21, 2021
View Article titled, Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
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Topics: Calibration, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Redundant manipulators, Robots, Engineering prototypes, Actuators
Journal Articles

Erratum: “Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing” [ASME J. Mech. Rob. 9(4), p. 041016; DOI: 10.1115/1.4036739]

João Cavalcanti Santos, Maira Martins da Silva
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Errata
J. Mechanisms Robotics. August 2021, 13(4): 047001.
Paper No: JMR-21-1147
https://doi.org/10.1115/1.4050931
Published Online: May 20, 2021
View Article titled, Erratum: “Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing” [ASME J. Mech. Rob. 9(4), p. 041016; DOI: 10.1115/1.4036739]
Open the PDF for Erratum: “Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing” [ASME J. Mech. Rob. 9(4), p. 041016; DOI: 10.1115/1.4036739] in another window
Topics: Dynamic programming, Redundancy (Engineering), Redundant manipulators, Resolution (Optics)
Journal Articles

Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014503.
Paper No: JMR-20-1117
https://doi.org/10.1115/1.4048258
Published Online: October 22, 2020
View Article titled, Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
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Topics: Actuators, Architecture, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Robots, Manufacturing, Springs
Journal Articles

On the Optimal Resolution of Inverse Kinematics for Redundant Manipulators Using a Topological Analysis

Enrico Ferrentino, Pasquale Chiacchio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031002.
Paper No: JMR-19-1152
https://doi.org/10.1115/1.4045178
Published Online: January 10, 2020
View Article titled, On the Optimal Resolution of Inverse Kinematics for Redundant Manipulators Using a Topological Analysis
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Topics: Algorithms, Kinematics, Manipulators, Redundancy (Engineering), Variational techniques, Resolution (Optics), Manifolds, Dynamic programming
Journal Articles

The Modeling of Redundantly Actuated Mechanical Systems

Yaojun Wang, Bruno Belzile, Jorge Angeles, Qinchuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 061005.
Paper No: JMR-19-1074
https://doi.org/10.1115/1.4044540
Published Online: October 9, 2019
View Article titled, The Modeling of Redundantly Actuated Mechanical Systems
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Topics: Actuators, Dynamics (Mechanics), Modeling, Robots, Torque, Kinematics, Machinery, Redundancy (Engineering)
Journal Articles

Directional Stiffness Modulation of Parallel Robots With Kinematic Redundancy and Variable Stiffness Joints

Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051003.
Paper No: JMR-18-1197
https://doi.org/10.1115/1.4043685
Published Online: July 8, 2019
View Article titled, Directional Stiffness Modulation of Parallel Robots With Kinematic Redundancy and Variable Stiffness Joints
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Topics: Kinematics, Redundancy (Engineering), Stiffness, Robots
Journal Articles

Design and Experimental Investigation of a New 2R1T Overconstrained Parallel Kinematic Machine With Actuation Redundancy

Lingmin Xu, Xinxue Chai, Qinchuan Li, Liangan Zhang, Wei Ye
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 031016.
Paper No: JMR-18-1409
https://doi.org/10.1115/1.4042628
Published Online: April 11, 2019
View Article titled, Design and Experimental Investigation of a New 2R1T Overconstrained Parallel Kinematic Machine With Actuation Redundancy
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Topics: Design, Kinematics, Redundancy (Engineering), Machinery, Mechanical admittance, Engineering prototypes
Journal Articles

Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism

Louis-Thomas Schreiber, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 021005.
Paper No: JMR-18-1337
https://doi.org/10.1115/1.4042346
Published Online: February 27, 2019
View Article titled, Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism
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Topics: Actuators, Kinematics, Parallel mechanisms, Redundancy (Engineering), Jacobian matrices, Degrees of freedom, Trajectories (Physics), Manipulators
Journal Articles

Modeling and Applications of a Family of Five-Degree-of-Freedom Parallel Mechanisms With Kinematic and Actuation Redundancy

Long Kang, Wheekuk Kim, Byung-Ju Yi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051004.
Paper No: JMR-18-1065
https://doi.org/10.1115/1.4040462
Published Online: July 3, 2018
View Article titled, Modeling and Applications of a Family of Five-Degree-of-Freedom Parallel Mechanisms With Kinematic and Actuation Redundancy
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Topics: Kinematics, Redundancy (Engineering), Grasping
Journal Articles

Passive Compliance Control of Redundant Serial Manipulators

Jacob J. Rice, Joseph M. Schimmels
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2018, 10(4): 044507.
Paper No: JMR-17-1225
https://doi.org/10.1115/1.4039591
Published Online: May 31, 2018
View Article titled, Passive Compliance Control of Redundant Serial Manipulators
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Topics: Actuators, Kinematics, Manipulators, Stiffness, End effectors, Redundancy (Engineering)
Journal Articles

Kinematic Analysis of a Novel Kinematically Redundant Spherical Parallel Manipulator

Jérôme Landuré, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021007.
Paper No: JMR-17-1303
https://doi.org/10.1115/1.4038971
Published Online: February 12, 2018
View Article titled, Kinematic Analysis of a Novel Kinematically Redundant Spherical Parallel Manipulator
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Topics: Jacobian matrices, Kinematics, Manipulators, Redundancy (Engineering), Robots, Design
Journal Articles

Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory

Long Kang, Wheekuk Kim, Byung-Ju Yi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061007.
Paper No: JMR-17-1108
https://doi.org/10.1115/1.4037805
Published Online: September 20, 2017
View Article titled, Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory
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Topics: Kinematics, Redundancy (Engineering), Screws, Mechanical admittance, Modeling
Journal Articles

Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing

João Cavacanti Santos, Maíra Martins da Silva
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041016.
Paper No: JMR-16-1372
https://doi.org/10.1115/1.4036739
Published Online: May 24, 2017
View Article titled, Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing
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Topics: Dynamic programming, Kinematics, Manipulators, Optimization, Redundancy (Engineering), Redundant manipulators, Resolution (Optics), Actuators, Trajectories (Physics), Jacobian matrices
Journal Articles

Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy

Lingmin Xu, Qinchuan Li, Ningbin Zhang, Qiaohong Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041008.
Paper No: JMR-16-1280
https://doi.org/10.1115/1.4036517
Published Online: May 2, 2017
View Article titled, Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy
Open the PDF for Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy in another window
Topics: Design, Kinematics, Manipulators, Mechanical admittance, Optimization, Displacement, Redundancy (Engineering), Screws, Universal joints, Kinematic analysis
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
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031011.
Paper No: JMR-16-1196
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