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Journal Articles

Architecture Singularity Distance Computations for Linear Pentapods

Aditya Kapilavai, Georg Nawratil
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021008.
Paper No: JMR-24-1034
https://doi.org/10.1115/1.4065789
Published Online: July 23, 2024
View Article titled, Architecture Singularity Distance Computations for Linear Pentapods
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Topics: Design, Optimization, Computation, Manipulators, Robots, Algorithms
Journal Articles

A Cable-Based Haptic Interface With a Reconfigurable Structure

Bastien Poitrimol, Hiroshi Igarashi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010901.
Paper No: JMR-23-1599
https://doi.org/10.1115/1.4065318
Published Online: June 7, 2024
View Article titled, A Cable-Based Haptic Interface With a Reconfigurable Structure
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Topics: Cables, End effectors, Haptics, Kinematics, Motors, Robots, Force feedback, Actuators, Feedback, Computation
Journal Articles

Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation

Ravinder Kumar, T. A. Dwarakanath, Gaurav Bhutani, S. K. Sinha
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101005.
Paper No: JMR-23-1445
https://doi.org/10.1115/1.4064485
Published Online: February 5, 2024
View Article titled, Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation
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Topics: Algorithms, Computation, Kinematics, Trajectories (Physics), Robots, Manipulators
Journal Articles

Singularity Parametrization With a Novel Kinematic Decoupled Model for Non-Spherical Wrist Robots

Diego Rodriguez-Guerra, Gorka Sorrosal, Itziar Cabanes, Aitziber Mancisidor, Carlos Calleja
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051003.
Paper No: JMR-23-1019
https://doi.org/10.1115/1.4062586
Published Online: June 26, 2023
View Article titled, Singularity Parametrization With a Novel Kinematic Decoupled Model for Non-Spherical Wrist Robots
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Topics: Kinematics, Robots, Parametrization, Computation
Journal Articles

A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots

Federico Zaccaria, Edoardo Idá, Sébastien Briot
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041010.
Paper No: JMR-22-1473
https://doi.org/10.1115/1.4062585
Published Online: June 9, 2023
View Article titled, A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots
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Topics: Algorithms, Computation, Robots
Journal Articles

Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations

Koen Dwarshuis, Ronald Aarts, Marcel Ellenbroek, Dannis Brouwer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021011.
Paper No: JMR-21-1106
https://doi.org/10.1115/1.4054730
Published Online: June 23, 2022
View Article titled, Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations
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Topics: Bending (Stress), Computation, Deformation, Design, Stiffness, Dimensions, Errors, Stress, Approximation
Journal Articles

Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains

T. H. Fass, Guangbo Hao, Pádraig Cantillon-Murphy
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060911.
Paper No: JMR-21-1674
https://doi.org/10.1115/1.4054311
Published Online: June 6, 2022
View Article titled, Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains
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Topics: Chain, Dynamics (Mechanics), Computation, Algorithms
Journal Articles

Computation of the Available Force Set of a 3- RP RR Kinematically Redundant Planar Parallel Manipulator

Marc Arsenault, Roger Boudreau, Scott Nokleby
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061014.
Paper No: JMR-20-1547
https://doi.org/10.1115/1.4051062
Published Online: July 5, 2021
View Article titled, Computation of the Available Force Set of a 3- RP RR Kinematically Redundant Planar Parallel Manipulator
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Topics: Actuators, Algorithms, Computation, Manipulators, Robots
Journal Articles

Analysis of Reachable Workspace for Spatial Three-Cable Under-Constrained Suspended Cable-Driven Parallel Robots

Yijia Peng, Wanghui Bu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061002.
Paper No: JMR-20-1399
https://doi.org/10.1115/1.4050469
Published Online: May 31, 2021
View Article titled, Analysis of Reachable Workspace for Spatial Three-Cable Under-Constrained Suspended Cable-Driven Parallel Robots
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Topics: Cables, Robots, Tension, Computation
Journal Articles

Synthesis of Six-Bar Timed Curve Generators of Stephenson-Type Using Random Monodromy Loops

Aravind Baskar, Mark Plecnik
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011005.
Paper No: JMR-20-1072
https://doi.org/10.1115/1.4047871
Published Online: August 17, 2020
View Article titled, Synthesis of Six-Bar Timed Curve Generators of Stephenson-Type Using Random Monodromy Loops
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Topics: Computation, Design, Generators, Kinematics, Linkages, Polynomials, Rotation
Journal Articles

Compound Topological Invariant Based Method for Detecting Isomorphism in Planar Kinematic Chains

Liang Sun, Zhizheng Ye, Rongjiang Cui, Wenjian Yang, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2020, 12(5): 054504.
Paper No: JMR-19-1517
https://doi.org/10.1115/1.4046840
Published Online: May 11, 2020
View Article titled, Compound Topological Invariant Based Method for Detecting Isomorphism in Planar Kinematic Chains
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Topics: Algorithms, Eigenvalues, Kinematic chains, String, Computation
Journal Articles

Reconfigurable Logic Gates Based on Programable Multistable Mechanisms

Mohamed Zanaty, Hubert Schneegans, Ilan Vardi, Simon Henein
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021111.
Paper No: JMR-19-1416
https://doi.org/10.1115/1.4045970
Published Online: February 6, 2020
View Article titled, Reconfigurable Logic Gates Based on Programable Multistable Mechanisms
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Topics: Bifurcation, Computation, Construction, Displacement, Gates (Closures), Stability, Stiffness, Switches
Journal Articles

A Survey on the Computation of Quaternions From Rotation Matrices

Soheil Sarabandi, Federico Thomas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 021006.
Paper No: JMR-18-1163
https://doi.org/10.1115/1.4041889
Published Online: March 1, 2019
View Article titled, A Survey on the Computation of Quaternions From Rotation Matrices
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Topics: Rotation, Computation, Errors, Algebra
Includes: Supplementary data
Journal Articles

A Motion Synthesis Approach to Solving Alt-Burmester Problem by Exploiting Fourier Descriptor Relationship Between Path and Orientation Data

Shashank Sharma, Anurag Purwar, Q. Jeffrey Ge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011016.
Paper No: JMR-18-1084
https://doi.org/10.1115/1.4042054
Published Online: December 17, 2018
View Article titled, A Motion Synthesis Approach to Solving Alt-Burmester Problem by Exploiting Fourier Descriptor Relationship Between Path and Orientation Data
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Topics: Algorithms, Computation, Fittings, Algebra
Journal Articles

Duporcq Pentapods

Georg Nawratil, Josef Schicho
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2017, 9(1): 011001.
Paper No: JMR-16-1141
https://doi.org/10.1115/1.4035085
Published Online: November 23, 2016
View Article titled, Duporcq Pentapods
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Topics: Computation, Geometry, Kinematics, Mechanical admittance, Theorems (Mathematics), Algebra
Journal Articles

Analytical Determination of the Proximity of Two Right-Circular Cylinders in Space

Saurav Agarwal, Rangaprasad Arun Srivatsan, Sandipan Bandyopadhyay
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041010.
Paper No: JMR-15-1218
https://doi.org/10.1115/1.4032211
Published Online: March 8, 2016
View Article titled, Analytical Determination of the Proximity of Two Right-Circular Cylinders in Space
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Topics: Algorithms, Cylinders, Disks, Computation, Polynomials
Journal Articles

Definition and Computation of Tensegrity Mechanism Workspace

Quentin Boehler, Isabelle Charpentier, Marc S. Vedrines, Pierre Renaud
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. November 2015, 7(4): 044502.
Paper No: JMR-14-1168
https://doi.org/10.1115/1.4029809
Published Online: November 1, 2015
View Article titled, Definition and Computation of Tensegrity Mechanism Workspace
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Topics: Computation, Springs, Tensegrity mechanisms, Kinematics
Journal Articles

A Distance Geometry Approach to the Singularity Analysis of 3R Robots

Federico Thomas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011001.
Paper No: JMR-14-1146
https://doi.org/10.1115/1.4029500
Published Online: August 18, 2015
View Article titled, A Distance Geometry Approach to the Singularity Analysis of 3R Robots
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Topics: Geometry, Kinematics, Robots, Computation
Journal Articles

Numerical Synthesis of Six-Bar Linkages for Mechanical Computation

Mark M. Plecnik, J. Michael McCarthy
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2014, 6(3): 031012.
Paper No: JMR-13-1145
https://doi.org/10.1115/1.4027443
Published Online: June 17, 2014
View Article titled, Numerical Synthesis of Six-Bar Linkages for Mechanical Computation
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Topics: Generators, Linkages, Computation, Design
Journal Articles

Two Natural Dexterity Indices for Parallel Manipulators: Angularity and Axiality

J. Jesús Cervantes-Sánchez, J. M. Rico-Martínez, V. H. Pérez-Muñoz
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2014, 6(4): 041007.
Paper No: JMR-13-1104
https://doi.org/10.1115/1.4027236
Published Online: June 5, 2014
View Article titled, Two Natural Dexterity Indices for Parallel Manipulators: Angularity and Axiality
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Topics: Generators, Kinematics, Manipulators, Rotation, Computation