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Journal Articles

Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization, and Testing Toward Passive Haptic Interface

Mohammad I. Awad, Irfan Hussain, Dongming Gan, Ali Az-zu'bi, Cesare Stefanini, Kinda Khalaf, Yahya Zweiri, Tarek Taha, Jorge Dias, Lakmal Seneviratne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011005.
Paper No: JMR-18-1148
https://doi.org/10.1115/1.4041640
Published Online: November 12, 2018
View Article titled, Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization, and Testing Toward Passive Haptic Interface
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Topics: Stiffness, Haptics, Springs, Design
Journal Articles

Screw-Based Modeling of Soft Manipulators With Tendon and Fluidic Actuation

Federico Renda, Matteo Cianchetti, Haider Abidi, Jorge Dias, Lakmal Seneviratne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041012.
Paper No: JMR-16-1344
https://doi.org/10.1115/1.4036579
Published Online: May 17, 2017
View Article titled, Screw-Based Modeling of Soft Manipulators With Tendon and Fluidic Actuation
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Topics: Kinematics, Manipulators, Screws, Stress, Tendons, Steady state
Proceedings Papers

Optimal Design of a Metamorphic Parallel Mechanism With Reconfigurable 1T2R and 3R Motion Based on Unified Motion/Force Transmissibility

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal D. Seneviratne
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A045, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59042
https://doi.org/10.1115/DETC2016-59042
View Paper titled, Optimal Design of a Metamorphic Parallel Mechanism With Reconfigurable 1T2R and 3R Motion Based on Unified Motion/Force Transmissibility
Open the PDF for Optimal Design of a Metamorphic Parallel Mechanism With Reconfigurable 1T2R and 3R Motion Based on Unified Motion/Force Transmissibility in another window
Topics: Design, Parallel mechanisms, Rotation, Screws, Jacobian matrices, Kinematics, Mechanical admittance, Switches, Tradeoffs
Journal Articles

Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism With Reconfigurable 3T and 3R Motion

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal D. Seneviratne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051001.
Paper No: JMR-15-1246
https://doi.org/10.1115/1.4032409
Published Online: May 4, 2016
View Article titled, Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism With Reconfigurable 3T and 3R Motion
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Topics: Kinematics, Parallel mechanisms, Rotation, Screws, Jacobian matrices
Proceedings Papers

Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism With Reconfigurable 3T and 3R Motion

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal D. Seneviratne
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A037, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46685
https://doi.org/10.1115/DETC2015-46685
View Paper titled, Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism With Reconfigurable 3T and 3R Motion
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Topics: Parallel mechanisms, Rotation, Design, Jacobian matrices, Kinematics, Screws, Switches
Journal Articles

Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal Seneviratne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041007.
Paper No: JMR-13-1194
https://doi.org/10.1115/1.4029808
Published Online: November 1, 2015
View Article titled, Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators
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Topics: Kinematics, Manipulators, Manufacturing, Rotation, Symmetry (Physics), Jacobian matrices, Parallel mechanisms
Journal Articles

Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement

Dongming Gan, Jian S. Dai, Jorge Dias, Rehan Umer, Lakmal Seneviratne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041022.
Paper No: JMR-14-1149
https://doi.org/10.1115/1.4029957
Published Online: November 1, 2015
View Article titled, Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement
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Topics: Design, Jacobian matrices, Kinematics, Parallel mechanisms, Fibers
Proceedings Papers

Unified Kinematics Analysis and Analytic Singularity-Free Workspace of a Metamorphic Parallel Mechanism With Controllable Rotation Center

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal D. Seneviratne
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A093, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34164
https://doi.org/10.1115/DETC2014-34164
View Paper titled, Unified Kinematics Analysis and Analytic Singularity-Free Workspace of a Metamorphic Parallel Mechanism With Controllable Rotation Center
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Topics: Kinematics, Parallel mechanisms, Rotation, Jacobian matrices, Topology
Proceedings Papers

Controllable Rotation Workspace of a Metamorphic Parallel Mechanism With Reconfigurable Universal Joints

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal D. Seneviratne
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A045, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12462
https://doi.org/10.1115/DETC2013-12462
View Paper titled, Controllable Rotation Workspace of a Metamorphic Parallel Mechanism With Reconfigurable Universal Joints
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Topics: Parallel mechanisms, Rotation, Universal joints, Screws, Degrees of freedom, Jacobian matrices, Mechanical admittance, Topology, Torsion
Proceedings Papers

Unified Inverse Dynamics of Variable Topologies of a Metamorphic Parallel Mechanism Using Screw Theory

Dongming Gan, Jorge Dias, Lakmal D. Seneviratne
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A064, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12991
https://doi.org/10.1115/DETC2013-12991
View Paper titled, Unified Inverse Dynamics of Variable Topologies of a Metamorphic Parallel Mechanism Using Screw Theory
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Topics: Dynamics (Mechanics), Parallel mechanisms, Screws, Modeling, Kinematics, Mechanical admittance, Robots, Topology
Journal Articles

Unified Kinematics and Singularity Analysis of a Metamorphic Parallel Mechanism With Bifurcated Motion

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal Seneviratne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2013, 5(3): 031004.
Paper No: JMR-12-1101
https://doi.org/10.1115/1.4024292
Published Online: June 24, 2013
View Article titled, Unified Kinematics and Singularity Analysis of a Metamorphic Parallel Mechanism With Bifurcated Motion
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Topics: Kinematics, Modeling, Parallel mechanisms, Rotation, Mechanical admittance, Topology