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Journal Articles

Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects

Seon Mi Jo, Hae-Sung Yoon
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021013.
Paper No: JMR-22-1521
https://doi.org/10.1115/1.4062983
Published Online: August 8, 2023
View Article titled, Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects
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Topics: Design, Energy efficiency, Grippers, Shape memory alloys, Springs, Wire, Shapes, Manufacturing
Journal Articles

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms

Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021001.
Paper No: JMR-22-1290
https://doi.org/10.1115/1.4056600
Published Online: March 3, 2023
View Article titled, Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
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Topics: Design, Springs, Torque, Wire, Degrees of freedom, Friction, Cams
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

Modeling and Design Exploration of a Tensegrity-Based Twisting Wing

Nguyen K. Pham, Edwin A. Peraza Hernandez
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031019.
Paper No: JMR-20-1461
https://doi.org/10.1115/1.4050149
Published Online: March 26, 2021
View Article titled, Modeling and Design Exploration of a Tensegrity-Based Twisting Wing
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Topics: Design, Wings, Wire, Tensegrity, Tensegrity mechanisms
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061003.
Paper No: JMR-19-1468
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

Needle-Size Bending Actuators Based on Controlled Nitinol Curvatures and Elastic Structures

Manivannan Sivaperuman Kalairaj, Bok Seng Yeow, Chwee Ming Lim, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031015.
Paper No: JMR-19-1028
https://doi.org/10.1115/1.4045646
Published Online: February 18, 2020
View Article titled, Needle-Size Bending Actuators Based on Controlled Nitinol Curvatures and Elastic Structures
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Topics: Actuators, Deflection, Engineering prototypes, Nickel titanium alloys, Springs, Wire, Additive manufacturing, Manipulators, Temperature
Includes: Supplementary data
Journal Articles

Fabrication and Experiment of an Automatic Continuum Robot System Using Image Recognition

Yeong-min Na, Hyun-seok Lee, Jong-kyu Park
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011017.
Paper No: JMR-18-1434
https://doi.org/10.1115/1.4045246
Published Online: October 31, 2019
View Article titled, Fabrication and Experiment of an Automatic Continuum Robot System Using Image Recognition
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Topics: Design, Disks, Manipulators, Manufacturing, Motors, Robots, Wire, Errors
Journal Articles

Design of a High-Concentration Microtracking Photovoltaic System

Gregory S. Brulo, Alex J. Grede, Andrew J. Ren, Christopher D. Rahn, Noel C. Giebink
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2019, 11(6): 065001.
Paper No: JMR-17-1443
https://doi.org/10.1115/1.4044412
Published Online: October 8, 2019
View Article titled, Design of a High-Concentration Microtracking Photovoltaic System
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Topics: Actuators, Design, Kinematics, Wire, Photovoltaic power systems
Journal Articles

A Novel Wire-Driven Variable-Stiffness Joint Based on a Permanent Magnetic Mechanism

Ming Zhang, Lijin Fang, Feng Sun, Koichi Oka
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051001.
Paper No: JMR-18-1194
https://doi.org/10.1115/1.4043684
Published Online: July 8, 2019
View Article titled, A Novel Wire-Driven Variable-Stiffness Joint Based on a Permanent Magnetic Mechanism
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Topics: Stiffness, Wire
Journal Articles

Design of a Two-Wheeled Rover With Sprawl Ability and Metal Brush Traction

Ivan A. Davydychev, Jaakko T. Karras, Kalind C. Carpenter
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 035002.
Paper No: JMR-18-1387
https://doi.org/10.1115/1.4043051
Published Online: April 9, 2019
View Article titled, Design of a Two-Wheeled Rover With Sprawl Ability and Metal Brush Traction
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Topics: Design, Traction, Wheels, Linkages, Wire
Journal Articles

Sliding Filament Joint Mechanism: Biomimetic Artificial Joint Mechanism for Artificial Skeletal Muscles

Kyeong Ho Cho, Ho Sang Jung, Sang Yul Yang, Youngeun Kim, Hugo Rodrigue, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 021004.
Paper No: JMR-18-1265
https://doi.org/10.1115/1.4042349
Published Online: February 27, 2019
View Article titled, Sliding Filament Joint Mechanism: Biomimetic Artificial Joint Mechanism for Artificial Skeletal Muscles
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Topics: Artificial joints, Biomimetics, Displacement, Gears, Muscle, Rotation, Wire, Actuators, Weight (Mass), Shrinkage (Materials)
Includes: Supplementary data
Journal Articles

Robotic Visible Forceps Manipulator With a Novel Linkage Bending Mechanism

Boyu Zhang, Zhuxiu Liao, Penghui Yang, Hongen Liao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011012.
Paper No: JMR-18-1055
https://doi.org/10.1115/1.4041941
Published Online: December 10, 2018
View Article titled, Robotic Visible Forceps Manipulator With a Novel Linkage Bending Mechanism
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Topics: Linkages, Manipulators, Robotics, Surgery, Phantoms, Visualization, Design, Engineering prototypes, Endoscopic devices, Wire
Journal Articles

Multiple Inputs-Single Accumulated Output Mechanism for Soft Linear Actuators

Kyeong Ho Cho, Ho Moon Kim, Youngeun Kim, Sang Yul Yang, Hyouk Ryeol Choi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011007.
Paper No: JMR-18-1008
https://doi.org/10.1115/1.4041632
Published Online: November 13, 2018
View Article titled, Multiple Inputs-Single Accumulated Output Mechanism for Soft Linear Actuators
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Topics: Actuators, Displacement, Robotics, Wire, Differential gears, Design, Gears, Torque, Motors, Robots
Journal Articles

Efficient Mechanism Design and Systematic Operation Planning for Tube-Wire Flexible Needles

Jaeyeon Lee, Jing Wang, Wooram Park
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2018, 10(6): 065001.
Paper No: JMR-18-1099
https://doi.org/10.1115/1.4041259
Published Online: September 17, 2018
View Article titled, Efficient Mechanism Design and Systematic Operation Planning for Tube-Wire Flexible Needles
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Topics: Needles, Design, Wire, Biological tissues, Switches
Journal Articles

Design and Implementation of a Leg–Wheel Robot: Transleg

Zhong Wei, Guangming Song, Guifang Qiao, Ying Zhang, Huiyu Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051001.
Paper No: JMR-16-1327
https://doi.org/10.1115/1.4037018
Published Online: June 22, 2017
View Article titled, Design and Implementation of a Leg–Wheel Robot: Transleg
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Topics: Actuators, Design, Knee, Robots, Wheels, Wire, Yaw, Rotation
Journal Articles

Qualitative Mobility Analysis of Wire Flexure Systems Using Load Flow Visualization

Sreeshankar Satheeshbabu, Girish Krishnan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061012.
Paper No: JMR-16-1001
https://doi.org/10.1115/1.4033859
Published Online: September 8, 2016
View Article titled, Qualitative Mobility Analysis of Wire Flexure Systems Using Load Flow Visualization
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Topics: Bending (Stress), Flow (Dynamics), Mechanical admittance, Stress, Wire
Journal Articles

Design of a Novel Flexible Endoscope—Cardioscope

Zheng Li, Min Zin Oo, Varun Nalam, Vu Duc Thang, Hongliang Ren, Theodoros Kofidis, Haoyong Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051014.
Paper No: JMR-15-1257
https://doi.org/10.1115/1.4032272
Published Online: May 4, 2016
View Article titled, Design of a Novel Flexible Endoscope—Cardioscope
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Topics: Design, Endoscopes, Wire
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
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2016, 8(4): 044506.
Paper No: JMR-15-1288
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
Journal Articles

Incremental Forward Kinematics of Wire-Suspended Parallel Mechanical System (A Many-Worlds Interpretation Approach)

Kazuyuki Hanahara
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041021.
Paper No: JMR-13-1191
https://doi.org/10.1115/1.4030163
Published Online: November 1, 2015
View Article titled, Incremental Forward Kinematics of Wire-Suspended Parallel Mechanical System (A Many-Worlds Interpretation Approach)
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Topics: Kinematics, Wire, Tension
Journal Articles

Design and Implementation of a Binary Redundant Manipulator With Cascaded Modules

Emmanouil Tzorakoleftherakis, Anastasia Mavrommati, Anthony Tzes
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011002.
Paper No: JMR-14-1157
https://doi.org/10.1115/1.4030372
Published Online: August 18, 2015
View Article titled, Design and Implementation of a Binary Redundant Manipulator With Cascaded Modules
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Topics: Actuators, Design, Kinematics, Manipulators, Robots, Wire, Redundant manipulators