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Journal Articles

A Compliant Hinge Joint Driven by the PneuNets Bending Actuator

Free
Yi Jin, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081015.
Paper No: JMR-23-1363
https://doi.org/10.1115/1.4064282
Published Online: January 12, 2024
View Articletitled, A Compliant Hinge Joint Driven by the PneuNets Bending Actuator
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Topics: Actuators, Design, Hinges, Simulation, Stiffness, Errors, Kinematics, Pressure, Soft robots
Journal Articles

A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming

Free
Xianpai Zeng, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014501.
Paper No: JMR-21-1478
https://doi.org/10.1115/1.4053857
Published Online: April 25, 2022
View Articletitled, A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming
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Topics: Design, Grippers, Pressure, Stiffness, Vacuum, Shapes
Journal Articles

Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms

Free
Yu She, Zhaoyuan Gu, Siyang Song, Hai-Jun Su, Junmin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031020.
Paper No: JMR-20-1447
https://doi.org/10.1115/1.4050379
Published Online: March 26, 2021
View Articletitled, Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms
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Topics: Cables, Design, Shapes, Stiffness, Modeling, Robots
Journal Articles

A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming

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Yuan Gao, Xiguang Huang, Ishan Singh Mann, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051013.
Paper No: JMR-19-1452
https://doi.org/10.1115/1.4047156
Published Online: June 5, 2020
View Articletitled, A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming
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Topics: Cables, Design, End effectors, Grippers, Stiffness, Stress, Pressure
Journal Articles

Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots

Free
Siyang Song, Yu She, Junmin Wang, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2020, 12(5): 054503.
Paper No: JMR-19-1499
https://doi.org/10.1115/1.4046839
Published Online: May 11, 2020
View Articletitled, Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots
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Topics: Design, Optimization, Robots, Stiffness
Journal Articles

Design and Modeling of a Continuously Tunable Stiffness Arm for Safe Physical Human–Robot Interaction

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Yu She, Hai-Jun Su, Deshan Meng, Cheng Lai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011006.
Paper No: JMR-18-1360
https://doi.org/10.1115/1.4044840
Published Online: October 8, 2019
View Articletitled, Design and Modeling of a Continuously Tunable Stiffness Arm for Safe Physical Human–Robot Interaction
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Topics: Design, Stiffness, Human-robot interaction, Modeling
Journal Articles

Design and Modeling of a Compliant Link for Inherently Safe Corobots

Free
Yu She, Hai-Jun Su, Deshan Meng, Siyang Song, Junmin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011001.
Paper No: JMR-17-1087
https://doi.org/10.1115/1.4038530
Published Online: December 20, 2017
View Articletitled, Design and Modeling of a Compliant Link for Inherently Safe Corobots
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Topics: Design, Robots, Safety, Stiffness, Simulation, Robotics, Modeling, Stress
Journal Articles

Accuracy Assessment of Pseudo-Rigid-Body Model for Dynamic Analysis of Compliant Mechanisms

Free
Na Li, Hai-Jun Su, Xian-Peng Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2017, 9(5): 054503.
Paper No: JMR-17-1004
https://doi.org/10.1115/1.4037186
Published Online: August 4, 2017
View Articletitled, Accuracy Assessment of Pseudo-Rigid-Body Model for Dynamic Analysis of Compliant Mechanisms
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Topics: Compliant mechanisms, Dynamic analysis, Dynamics (Mechanics), Errors, Dynamic response, Simulation
Journal Articles

Speeding Up Topology Optimization of Compliant Mechanisms With a Pseudorigid-Body Model

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Venkatasubramanian Kalpathy Venkiteswaran, Omer Anil Turkkan, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041007.
Paper No: JMR-16-1348
https://doi.org/10.1115/1.4035992
Published Online: May 2, 2017
View Articletitled, Speeding Up Topology Optimization of Compliant Mechanisms With a Pseudorigid-Body Model
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Topics: Compliant mechanisms, Design, Optimization, Topology, Stress, Finite element analysis
Journal Articles

A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects

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Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061001.
Paper No: JMR-15-1116
https://doi.org/10.1115/1.4032862
Published Online: June 10, 2016
View Articletitled, A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects
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Topics: Deformation, Elongation, Errors, Optimization, Springs, Stress, Deflection, Compliant mechanisms
Journal Articles

Pseudorigid-Body Models of Compliant DNA Origami Mechanisms

Available to Purchase
Lifeng Zhou, Alexander E. Marras, Carlos E. Castro, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051013.
Paper No: JMR-15-1263
https://doi.org/10.1115/1.4032213
Published Online: May 4, 2016
View Articletitled, Pseudorigid-Body Models of Compliant DNA Origami Mechanisms
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Topics: Cantilever beams, Design, DNA, Springs, Stiffness, Deformation
Journal Articles

Type Synthesis of Three-Degree-of-Freedom Translational Compliant Parallel Mechanisms

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Cong Yue, Ying Zhang, Hai-Jun Su, Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2015, 7(3): 031012.
Paper No: JMR-14-1014
https://doi.org/10.1115/1.4028758
Published Online: August 1, 2015
View Articletitled, Type Synthesis of Three-Degree-of-Freedom Translational Compliant Parallel Mechanisms
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Topics: Bending (Stress), Blades, Chain, Design, Mechanical admittance, Parallel mechanisms, Rotation, Screws, Compliant mechanisms, Finite element analysis
Journal Articles

Design and Fabrication of a Soft Robotic Hand With Embedded Actuators and Sensors

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Yu She, Chang Li, Jonathon Cleary, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021007.
Paper No: JMR-14-1224
https://doi.org/10.1115/1.4029497
Published Online: May 1, 2015
View Articletitled, Design and Fabrication of a Soft Robotic Hand With Embedded Actuators and Sensors
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Topics: Actuators, Bending (Stress), Design, End effectors, Manufacturing, Sensors, Shapes, Strips, Wire, Grasping
Journal Articles

An Analytical Model for Calculating the Workspace of a Flexure Hexapod Nanopositioner

Available to Purchase
Hongliang Shi, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041009.
Paper No: JMR-12-1143
https://doi.org/10.1115/1.4025041
Published Online: September 11, 2013
View Articletitled, An Analytical Model for Calculating the Workspace of a Flexure Hexapod Nanopositioner
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Topics: Bending (Stress), Deformation, Kinematics, Wire, Errors, Torsion, Finite element model, Struts (Engineering), Degrees of freedom
Journal Articles

Kinematic Acquisition of Geometric Constraints for Task-Oriented Design of Planar Mechanisms

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Jun Wu, Q. J. Ge, Hai-Jun Su, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2013, 5(1): 011003.
Paper No: JMR-10-1029
https://doi.org/10.1115/1.4007409
Published Online: October 19, 2012
View Articletitled, Kinematic Acquisition of Geometric Constraints for Task-Oriented Design of Planar Mechanisms
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Topics: Design, Kinematics, Shapes, Trajectories (Physics), Linkages, Displacement
Journal Articles

Mobility Analysis of Flexure Mechanisms via Screw Algebra

Available to Purchase
Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2011, 3(4): 041010.
https://doi.org/10.1115/1.4004910
Published Online: October 24, 2011
View Articletitled, Mobility Analysis of Flexure Mechanisms via Screw Algebra
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Topics: Algebra, Bending (Stress), Chain, Flexure mechanisms, Screws, Mechanical admittance, Blades
Journal Articles

Screw Theory Based Methodology for the Deterministic Type Synthesis of Flexure Mechanisms

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Jingjun Yu, Shouzhong Li, Hai-jun Su, M. L. Culpepper
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2011, 3(3): 031008.
https://doi.org/10.1115/1.4004123
Published Online: August 10, 2011
View Articletitled, Screw Theory Based Methodology for the Deterministic Type Synthesis of Flexure Mechanisms
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Topics: Bending (Stress), Flexure mechanisms, Screws, Kinematics
Journal Articles

On Line Screw Systems and Their Application to Flexure Synthesis

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Hai-Jun Su, Hafez Tari
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011009.
https://doi.org/10.1115/1.4003078
Published Online: January 14, 2011
View Articletitled, On Line Screw Systems and Their Application to Flexure Synthesis
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Topics: Screws, Bending (Stress)
Journal Articles

A Screw Theory Approach for the Conceptual Design of Flexible Joints for Compliant Mechanisms

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Hai-Jun Su, Denis V. Dorozhkin, Judy M. Vance
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2009, 1(4): 041009.
https://doi.org/10.1115/1.3211024
Published Online: September 28, 2009
View Articletitled, A Screw Theory Approach for the Conceptual Design of Flexible Joints for Compliant Mechanisms
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Topics: Compliant mechanisms, Design, Screws, Wire, Bending (Stress)
Journal Articles

A Pseudorigid-Body 3R Model for Determining Large Deflection of Cantilever Beams Subject to Tip Loads

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Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2009, 1(2): 021008.
https://doi.org/10.1115/1.3046148
Published Online: January 7, 2009
View Articletitled, A Pseudorigid-Body 3R Model for Determining Large Deflection of Cantilever Beams Subject to Tip Loads
Open the PDF for A Pseudorigid-Body 3R Model for Determining Large Deflection of Cantilever Beams Subject to Tip Loads in another window
Topics: Deflection, Springs, Stress, Stiffness, Errors, Kinematics, Cantilever beams