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Journal Articles

A Kinematics-Based Optimization Design for the Leg Mechanism of a Novel Earth Rover

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Yifan Wu, Sheng Guo, Lianzheng Niu, Xinhua Yang, Fuqun Zhao, Yufan He
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2024, 146(9): 093302.
Paper No: MD-23-1505
https://doi.org/10.1115/1.4064566
Published Online: March 5, 2024
View Articletitled, A Kinematics-Based Optimization Design for the Leg Mechanism of a Novel Earth Rover
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Topics: Design, Jacobian matrices, Kinematics, Optimization, Simulation, Engineering prototypes, Parallel mechanisms
Journal Articles

A Novel Modular Approach for Kinematic Modeling and Analysis of Planar Hybrid Manipulators

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Sakshi Gupta, Sameer Gupta, Anupam Agrawal, Ekta Singla
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2021, 143(9): 093302.
Paper No: MD-20-1674
https://doi.org/10.1115/1.4050305
Published Online: March 24, 2021
View Articletitled, A Novel Modular Approach for Kinematic Modeling and Analysis of Planar Hybrid Manipulators
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Topics: Algorithms, Jacobian matrices, Kinematics, Linkages, Manipulators, Modeling, Computation, Design, Rehabilitation devices
Journal Articles

Motion Characteristics Analysis of a Novel 2R1T 3-UPU Parallel Mechanism

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Chen Zhao, Ziming Chen, Yanwen Li, Zhen Huang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2020, 142(1): 012302.
Paper No: MD-19-1011
https://doi.org/10.1115/1.4043938
Published Online: October 3, 2019
View Articletitled, Motion Characteristics Analysis of a Novel 2R1T 3-UPU Parallel Mechanism
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Topics: Engineering prototypes, Jacobian matrices, Kinematics, Mechanical admittance, Parallel mechanisms, Rotation, Screws
Journal Articles

Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots

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Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2019, 141(9): 092305.
Paper No: MD-18-1547
https://doi.org/10.1115/1.4043932
Published Online: July 19, 2019
View Articletitled, Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots
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Topics: Actuators, Failure, Jacobian matrices, Robots, Robotics, Cables, End effectors, Grasping, Optimization
Journal Articles

Jacobian-Based Topology Optimization Method Using an Improved Stiffness Evaluation

Open Access
Mohui Jin, Xianmin Zhang, Zhou Yang, Benliang Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. January 2018, 140(1): 011402.
Paper No: MD-17-1179
https://doi.org/10.1115/1.4038332
Published Online: November 9, 2017
View Articletitled, Jacobian-Based Topology Optimization Method Using an Improved Stiffness Evaluation
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Topics: Design, Displacement, Optimization, Stiffness, Topology, Jacobian matrices
Journal Articles

Global Performance Index System for Kinematic Optimization of Robotic Mechanism

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Pu Zhang, Zhenqiang Yao, Zhengchun Du
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. March 2014, 136(3): 031001.
Paper No: MD-13-1003
https://doi.org/10.1115/1.4026031
Published Online: December 19, 2013
View Articletitled, Global Performance Index System for Kinematic Optimization of Robotic Mechanism
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Topics: Kinematics, Robotics, Jacobian matrices
Journal Articles

Design of Parallel Mechanisms for Flexible Manufacturing With Reconfigurable Dynamics

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Gianmarc Coppola, Dan Zhang, Kefu Liu, Zhen Gao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. July 2013, 135(7): 071011.
Paper No: MD-11-1418
https://doi.org/10.1115/1.4024366
Published Online: May 29, 2013
View Articletitled, Design of Parallel Mechanisms for Flexible Manufacturing With Reconfigurable Dynamics
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Topics: Design, Dynamics (Mechanics), Kinematics, Manufacturing, Robotics, Robots, Manipulators, Dynamic models, Jacobian matrices, Parallel mechanisms
Journal Articles

Kinematic Analysis of a Three-Degree of Freedom Compliant Platform

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Julio C. Correa, Carl Crane
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. May 2013, 135(5): 051009.
Paper No: MD-12-1287
https://doi.org/10.1115/1.4024085
Published Online: April 29, 2013
View Articletitled, Kinematic Analysis of a Three-Degree of Freedom Compliant Platform
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Topics: Actuators, Equilibrium (Physics), Kinematic analysis, Springs, Rotation, Kinematics, Jacobian matrices
Journal Articles

Stability Analysis and Convergence Control of Iterative Algorithms for Reliability Analysis and Design Optimization

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Dixiong Yang, Hui Xiao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. March 2013, 135(3): 034501.
Paper No: MD-11-1037
https://doi.org/10.1115/1.4023327
Published Online: January 17, 2013
View Articletitled, Stability Analysis and Convergence Control of Iterative Algorithms for Reliability Analysis and Design Optimization
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Topics: Algorithms, Design, Event history analysis, Optimization, Stability, Eigenvalues, Bifurcation, Chaos, Dynamic systems, Jacobian matrices
Journal Articles

Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity

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Jody A. Saglia, Jian S. Dai, Darwin G. Caldwell
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. December 2008, 130(12): 124501.
https://doi.org/10.1115/1.2988472
Published Online: October 8, 2008
View Articletitled, Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity
Open the PDF for Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity in another window
Topics: Jacobian matrices, Parallel mechanisms, Struts (Engineering), Geometry
Journal Articles

Singularity Equations of Gough–Stewart Platforms Using a Minimal Set of Geometric Parameters

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Qimi Jiang, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2008, 130(11): 112303.
https://doi.org/10.1115/1.2976450
Published Online: September 23, 2008
View Articletitled, Singularity Equations of Gough–Stewart Platforms Using a Minimal Set of Geometric Parameters
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Topics: Architecture, Manipulator kinematics, Optimization, Rotation, Jacobian matrices, Parallel mechanisms
Journal Articles

Analysis of Stiffness and Elastic Deformation for Some 3–5-DOF PKMs With S P R or R P S-type legs

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Yi Lu, Bo Hu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2008, 130(10): 102307.
https://doi.org/10.1115/1.2918918
Published Online: September 11, 2008
View Articletitled, Analysis of Stiffness and Elastic Deformation for Some 3–5-DOF PKMs With S P R or R P S-type legs
Open the PDF for Analysis of Stiffness and Elastic Deformation for Some 3–5-DOF PKMs With S P R or R P S-type legs in another window
Topics: Deformation, Jacobian matrices, Stiffness
Journal Articles

Architectures of Translational Parallel Mechanism for MEMS Fabrication

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Hagay Bamberger, Alon Wolf, Moshe Shoham
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. August 2008, 130(8): 084502.
https://doi.org/10.1115/1.2936933
Published Online: July 11, 2008
View Articletitled, Architectures of Translational Parallel Mechanism for MEMS Fabrication
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Topics: Actuators, Architecture, Design, Jacobian matrices, Kinematics, Manufacturing, Microelectromechanical systems, Parallel mechanisms
Journal Articles

Optimal Kinematic Design and Application of a Redundantly Actuated 3DOF Planar Parallel Manipulator

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Jun Wu, Jinsong Wang, Liping Wang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. May 2008, 130(5): 054503.
https://doi.org/10.1115/1.2890118
Published Online: March 26, 2008
View Articletitled, Optimal Kinematic Design and Application of a Redundantly Actuated 3DOF Planar Parallel Manipulator
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Topics: Design, Jacobian matrices, Kinematics, Machine tools, Manipulators, Blades, Gas turbines
Journal Articles

Performance Analysis and Optimal Design of a 3-DOF 3-PRUR Parallel Mechanism

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Daxing Zeng, Zhen Huang, Wenjuan Lu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2008, 130(4): 042307.
https://doi.org/10.1115/1.2885190
Published Online: March 19, 2008
View Articletitled, Performance Analysis and Optimal Design of a 3-DOF 3-PRUR Parallel Mechanism
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Topics: Design, Jacobian matrices, Kinematics, Parallel mechanisms, Mechanical admittance, Stiffness, Isotropy
Journal Articles

Unified Solving Jacobian∕Hessian Matrices of Some Parallel Manipulators With n SPS Active Legs and a Passive Constrained Leg

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Yi Lu, Bo Hu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2007, 129(11): 1161–1169.
https://doi.org/10.1115/1.2771572
Published Online: November 15, 2006
View Articletitled, Unified Solving Jacobian∕Hessian Matrices of Some Parallel Manipulators With n SPS Active Legs and a Passive Constrained Leg
Open the PDF for Unified Solving Jacobian∕Hessian Matrices of Some Parallel Manipulators With n SPS Active Legs and a Passive Constrained Leg in another window
Topics: Manipulators, Jacobian matrices, Kinematics
Journal Articles

Determination of Singularity-Free Zones in the Workspace of Planar 3 - P ̱ RR Parallel Mechanisms

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Mehdi Tale Masouleh, Clément Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. June 2007, 129(6): 649–652.
https://doi.org/10.1115/1.2717234
Published Online: June 5, 2006
View Articletitled, Determination of Singularity-Free Zones in the Workspace of Planar 3 - P ̱ RR Parallel Mechanisms
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Topics: Algorithms, Jacobian matrices, Kinematics, Manipulators, Parallel mechanisms, Polynomials, Manipulator kinematics, Modeling
Journal Articles

Forward/Reverse Velocity and Acceleration Analysis for a Class of Lower-Mobility Parallel Mechanisms

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Si J. Zhu, Zhen Huang, Hua F. Ding
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2007, 129(4): 390–396.
https://doi.org/10.1115/1.2429698
Published Online: April 11, 2006
View Articletitled, Forward/Reverse Velocity and Acceleration Analysis for a Class of Lower-Mobility Parallel Mechanisms
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Topics: Kinematics, Mechanical admittance, Parallel mechanisms, Jacobian matrices
Journal Articles

Compliance Analysis of a Three-Legged Rigidly-Connected Platform Device

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Jian S. Dai, Xilun Ding
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2006, 128(4): 755–764.
https://doi.org/10.1115/1.2202141
Published Online: September 11, 2005
View Articletitled, Compliance Analysis of a Three-Legged Rigidly-Connected Platform Device
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Topics: Springs, Manufacturing, Screws, Jacobian matrices
Journal Articles

Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots

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J. P. Merlet
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 199–206.
https://doi.org/10.1115/1.2121740
Published Online: June 20, 2005
View Articletitled, Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots
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Topics: Errors, Robots, Jacobian matrices, Kinematics, End effectors