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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

Announcing the 2021 Best Paper Award and Honorable Mention

Venkat Krovi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics. October 2022, 14(5): 050201.
Paper No: JMR-22-1116
https://doi.org/10.1115/1.4054364
Published Online: May 12, 2022
View Article titled, Announcing the 2021 Best Paper Award and Honorable Mention
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Topics: Biomimetics, Compliant mechanisms, Resolution (Optics), Robotics, Robots, Springs, Stiffness
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

Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery

Tianci Zhang, Zhongyuan Ping, Siyang Zuo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041002.
Paper No: JMR-20-1252
https://doi.org/10.1115/1.4049976
Published Online: April 9, 2021
View Article titled, Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery
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Topics: Design, Manipulators, Nickel titanium alloys, Fiber Bragg gratings, Bending (Stress), Surgery, Resolution (Optics), Calibration, Degrees of freedom, Force sensors
Journal Articles

Generalized Spiral Spring: A Bioinspired Tunable Stiffness Mechanism for Linear Response With High Resolution

Zeeshan Qaiser, Shane Johnson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011007.
Paper No: JMR-19-1200
https://doi.org/10.1115/1.4045654
Published Online: August 27, 2020
View Article titled, Generalized Spiral Spring: A Bioinspired Tunable Stiffness Mechanism for Linear Response With High Resolution
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Topics: Design, Resolution (Optics), Springs, Stiffness, Optimization, Stress
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

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

Haptic Hand Exoskeleton for Precision Grasp Simulation

Marco Fontana, Salsedo Fabio, Simone Marcheschi, Massimo Bergamasco
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041014.
Paper No: JMR-11-1080
https://doi.org/10.1115/1.4024981
Published Online: October 7, 2013
View Article titled, Haptic Hand Exoskeleton for Precision Grasp Simulation
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Topics: Cables, Design, Electronics, Engines, Exoskeleton devices, Force sensors, Haptics, Kinematics, Motors, Resolution (Optics)
Journal Articles

Design of a Large Range XY Nanopositioning System

Shorya Awtar, Gaurav Parmar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2013, 5(2): 021008.
Paper No: JMR-12-1125
https://doi.org/10.1115/1.4023874
Published Online: April 12, 2013
View Article titled, Design of a Large Range XY Nanopositioning System
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Topics: Actuators, Bending (Stress), Design, Sensors, Bearings, Displacement, Resolution (Optics), Kinematics, Noise (Sound)
Journal Articles

Redundancy Resolution Using Tractrix—Simulations and Experiments

V. C. Ravi, Subrata Rakshit, Ashitava Ghosal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031013.
https://doi.org/10.1115/1.4001777
Published Online: July 23, 2010
View Article titled, Redundancy Resolution Using Tractrix—Simulations and Experiments
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Topics: Algorithms, End effectors, Manipulators, Redundancy (Engineering), Resolution (Optics), Simulation, Robots
Journal Articles

Enhancing PKM Accuracy by Separating Actuation and Measurement: A 3DOF Case Study

David Corbel, Olivier Company, Sébastien Krut, François Pierrot
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031008.
https://doi.org/10.1115/1.4001779
Published Online: July 21, 2010
View Article titled, Enhancing PKM Accuracy by Separating Actuation and Measurement: A 3DOF Case Study
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Topics: Chain, End effectors, Errors, Machinery, Optimization, Redundancy (Engineering), Sensors, Kinematics, Machine tools, Modeling
Journal Articles

An Empirical Approach to Performance Criteria for Manipulation

Mark Tisius, Mitch Pryor, Chetan Kapoor, Delbert Tesar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2009, 1(3): 031002.
https://doi.org/10.1115/1.3147194
Published Online: July 9, 2009
View Article titled, An Empirical Approach to Performance Criteria for Manipulation
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Topics: Decision making, Kinematics, Manipulators, Resolution (Optics), Potential energy, Simulation, Stress, Robotics, Gravity (Force), Inertia (Mechanics)