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Journal Articles

Design and Implementation of a Synergy-Based Cable-Driven Humanoid Arm With Variable Stiffness

Hang Xiao, Jianyin Tang, Shengnan Lyu, Kun Xu, Xilun Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041002.
Paper No: JMR-22-1426
https://doi.org/10.1115/1.4062130
Published Online: April 12, 2023
View Article titled, Design and Implementation of a Synergy-Based Cable-Driven Humanoid Arm With Variable Stiffness
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Topics: Cables, Design, Stiffness, Dimensions
Journal Articles

A Reconfigurable Modular Fixture With Redundant Actuation

Shengnan Lyu, Tianye Xu, Xilun Ding, Hang Xiao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060901.
Paper No: JMR-21-1758
https://doi.org/10.1115/1.4054244
Published Online: April 21, 2022
View Article titled, A Reconfigurable Modular Fixture With Redundant Actuation
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Topics: Design, Kinematics, Stiffness, Deformation, Conceptual design, Reliability, Linkages, Engineering prototypes
Journal Articles

Multi-Loop Rover: A Kind of Modular Rolling Robot Constructed by Multi-Loop Linkages

Yaobin Tian, Xianwen Kong, Kun Xu, Xilun Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011012.
Paper No: JMR-19-1520
https://doi.org/10.1115/1.4048225
Published Online: October 7, 2020
View Article titled, Multi-Loop Rover: A Kind of Modular Rolling Robot Constructed by Multi-Loop Linkages
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Topics: Kinematics, Linkages, Mechanical admittance, Robots, Design, Chain, Engineering prototypes
Journal Articles

Optimization of the Rotational Asymmetric Parallel Mechanism for Hip Rehabilitation With Force Transmission Factors

Wuxiang Zhang, Wei Zhang, Xilun Ding, Lei Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041006.
Paper No: JMR-19-1257
https://doi.org/10.1115/1.4045847
Published Online: March 6, 2020
View Article titled, Optimization of the Rotational Asymmetric Parallel Mechanism for Hip Rehabilitation With Force Transmission Factors
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Topics: Optimization, Parallel mechanisms, Jacobian matrices, Chain
Proceedings Papers

A Novel 1-DOF Deployable Mechanism for Parabolic Cylindrical Surface Approximation

Hang Xiao, Shengnan Lu, Xilun Ding
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A056, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97806
https://doi.org/10.1115/DETC2019-97806
View Paper titled, A Novel 1-DOF Deployable Mechanism for Parabolic Cylindrical Surface Approximation
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Topics: Actuators, Approximation, Kinematics, Linkages, Magnification, Stress
Journal Articles

Design, Construction, and Control of Curves and Surfaces via Deployable Mechanisms

Vishal Ramadoss, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi, Shengnan Lyu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 061008.
Paper No: JMR-19-1064
https://doi.org/10.1115/1.4044734
Published Online: October 9, 2019
View Article titled, Design, Construction, and Control of Curves and Surfaces via Deployable Mechanisms
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Topics: Approximation, Construction, Design, Linkages, Shapes, Simulation
Journal Articles

Design and Analysis of Reconfigurable Deployable Polyhedral Mechanisms With Straight Elements

Ruiming Li, Xuemin Sun, Yaqiong Chen, Yan-an Yao, Xilun Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 044502.
Paper No: JMR-19-1025
https://doi.org/10.1115/1.4043601
Published Online: May 17, 2019
View Article titled, Design and Analysis of Reconfigurable Deployable Polyhedral Mechanisms With Straight Elements
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Topics: Construction, Design, Kinematics, Reciprocating motion, Switches
Journal Articles

A Force Control Joint for Robot–Environment Contact Application

Qilong Wang, Wei Wang, Xilun Ding, Chao Yun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 034502.
Paper No: JMR-18-1176
https://doi.org/10.1115/1.4043043
Published Online: April 9, 2019
View Article titled, A Force Control Joint for Robot–Environment Contact Application
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Topics: Design, Force control, Linkages, Robots, Simulation, Displacement, Springs, Modeling, Pressure
Journal Articles

A Network of Type III Bricard Linkages

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi, Simon D. Guest
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011013.
Paper No: JMR-18-1112
https://doi.org/10.1115/1.4041641
Published Online: December 10, 2018
View Article titled, A Network of Type III Bricard Linkages
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Topics: Linkages, Shapes
Proceedings Papers

Rotations in a Non-Orthogonal Frame

Shengnan Lu, Xilun Ding, Gregory S. Chirikjian
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A082, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85862
https://doi.org/10.1115/DETC2018-85862
View Paper titled, Rotations in a Non-Orthogonal Frame
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Topics: Conformational analysis, Crystals, Geometry, Polymers, Rotation
Proceedings Papers

Design and Analysis of a Cable-Driven Deployable Cylindrical Mechanism

Hang Xiao, Shengnan Lu, Xilun Ding
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A042, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85575
https://doi.org/10.1115/DETC2018-85575
View Paper titled, Design and Analysis of a Cable-Driven Deployable Cylindrical Mechanism
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Topics: Cables, Design, Construction, Engineering prototypes, Kinematics, Linkages, Pulleys, Shapes
Journal Articles

Approximation of Cylindrical Surfaces With Deployable Bennett Networks

Shengnan Lu, Dimiter Zlatanov, Xilun Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021001.
Paper No: JMR-16-1322
https://doi.org/10.1115/1.4035801
Published Online: March 9, 2017
View Article titled, Approximation of Cylindrical Surfaces With Deployable Bennett Networks
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Topics: Linkages, Shapes
Proceedings Papers

Approximation of Cylindrical Surfaces With Deployable Bennett Networks

Shengnan Lu, Dimiter Zlatanov, Xilun Ding
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A056, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59817
https://doi.org/10.1115/DETC2016-59817
View Paper titled, Approximation of Cylindrical Surfaces With Deployable Bennett Networks
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Topics: Approximation, Cylinders, Design, Geometry, Kinematic analysis, Kinematics, Linkages, Modeling, Shapes, Simulation
Proceedings Papers

Kinematic Analysis of Hexapod Manipulation

Fan Yang, Xilun Ding, Gregory S. Chirikjian
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A089, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59619
https://doi.org/10.1115/DETC2016-59619
View Paper titled, Kinematic Analysis of Hexapod Manipulation
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Topics: Kinematic analysis, Chain, Robots, Center of mass, Engineering simulation, Jacobian matrices, Modeling, Motion control, Simulation, Stability
Proceedings Papers

Construction and Control of Surfaces via Deployable Mechanisms With Three Degrees of Freedom

Shengnan Lu, Vishal Ramadoss, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A070, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59977
https://doi.org/10.1115/DETC2016-59977
View Paper titled, Construction and Control of Surfaces via Deployable Mechanisms With Three Degrees of Freedom
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Topics: Construction, Degrees of freedom, Linkages, Approximation, Civil engineering, Computer-aided design, Engineering simulation, Kinematics, Shapes, Simulation
Journal Articles

Dynamics Modeling and Trajectory Tracking Control of a Quadrotor Unmanned Aerial Vehicle

Xilun Ding, Xueqiang Wang, Yushu Yu, Changliu Zha
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. February 2017, 139(2): 021004.
Paper No: DS-15-1655
https://doi.org/10.1115/1.4034691
Published Online: November 9, 2016
View Article titled, Dynamics Modeling and Trajectory Tracking Control of a Quadrotor Unmanned Aerial Vehicle
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Topics: Control equipment, Dynamics (Mechanics), Flight, Trajectories (Physics), Simulation, Modeling
Journal Articles

Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms

Shengnan Lu, Zeshan Ahmad, Matteo Zoppi, Xilun Ding, Dimiter Zlatanov, Rezia Molfino
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. August 2016, 138(8): 085001.
Paper No: MD-15-1418
https://doi.org/10.1115/1.4033037
Published Online: June 16, 2016
View Article titled, Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms
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Topics: Design, Robots, Robotics, Testing, Stress, Engineering prototypes, Torque, Stiffness, Grasping
Proceedings Papers

A Network of Type III Bricard Linkages

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi, Simon D. Guest
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A043, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47139
https://doi.org/10.1115/DETC2015-47139
View Paper titled, A Network of Type III Bricard Linkages
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Topics: Linkages, Shapes, Design methodology
Journal Articles

Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Rezia Molfino, Matteo Zoppi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021008.
Paper No: JMR-15-1022
https://doi.org/10.1115/1.4031639
Published Online: November 24, 2015
View Article titled, Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom
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Topics: Linkages, Magnification
Journal Articles

Dynamic Modeling and Locomotion Control for Quadruped Robots Based on Center of Inertia on SE(3)

Xilun Ding, Hao Chen
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2016, 138(1): 011004.
Paper No: DS-15-1298
https://doi.org/10.1115/1.4031728
Published Online: October 23, 2015
View Article titled, Dynamic Modeling and Locomotion Control for Quadruped Robots Based on Center of Inertia on SE(3)
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Topics: Robots, Dynamic models, Center of mass, Dynamic modeling, Simulation