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Jian S. Dai
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Journal Articles

Multi-Furcation Variations of Two Novel Double-Centered Mechanisms Based on Higher Order Kinematic Analyses and Singular Value Decomposition

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Zhao Tang, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051011.
Paper No: JMR-22-1518
https://doi.org/10.1115/1.4062915
Published Online: July 21, 2023
View Articletitled, Multi-Furcation Variations of Two Novel Double-Centered Mechanisms Based on Higher Order Kinematic Analyses and Singular Value Decomposition
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Topics: Linkages
Journal Articles

Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand

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Yen-Hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Zhongtao Fu, Shuangjia Xu, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051018.
Paper No: JMR-21-1754
https://doi.org/10.1115/1.4062238
Published Online: May 2, 2023
View Articletitled, Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand
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Topics: Friction, Design, Robotics, End effectors
Journal Articles

Special Section: Theory and Design of Reconfigurable Mechanisms and Robots

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Dongming Gan, Stéphane Caro, Guimin Chen, Scott Nokleby, Jian S Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. December 2022, 14(6): 060301.
Paper No: JMR-22-1441
https://doi.org/10.1115/1.4055836
Published Online: October 31, 2022
View Articletitled, Special Section: Theory and Design of Reconfigurable Mechanisms and Robots
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Topics: Design, Robots, Robotics
Journal Articles

Design and Control of SLPM-Based Extensible Continuum Arm

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Zheming Zhuang, Ze Zhang, Yuntao Guan, Wei Wei, Mi Li, Zhao Tang, Rongjie Kang, Zhibin Song, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061003.
Paper No: JMR-21-1741
https://doi.org/10.1115/1.4054996
Published Online: September 12, 2022
View Articletitled, Design and Control of SLPM-Based Extensible Continuum Arm
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Topics: Control systems, Design, Engineering prototypes, Parallel mechanisms, Robots, Simulation, Springs, Cables, Stiffness, Screws
Journal Articles

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

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Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Closures
J. Mechanisms Robotics. October 2022, 14(5): 056001.
Paper No: JMR-21-1433
https://doi.org/10.1115/1.4054926
Published Online: August 9, 2022
View Articletitled, Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback
Journal Articles

Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism

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Zhao Tang, Kun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060907.
Paper No: JMR-21-1640
https://doi.org/10.1115/1.4054408
Published Online: May 26, 2022
View Articletitled, Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism
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Topics: Robots, Biomimetics, Design, Spin (Aerodynamics), Spinning (Textile)
Journal Articles

Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time

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Tun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011011.
Paper No: JMR-21-1668
https://doi.org/10.1115/1.4054313
Published Online: May 2, 2022
View Articletitled, Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time
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Topics: Design, Exoskeleton devices, Kinematics, Rotation, Robots
Journal Articles

Special Section: Design, Analysis and Actuation of Reconfigurable Parallel Mechanisms

Free
Jian S. Dai, Yan Jin, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. August 2021, 13(4): 040301.
Paper No: JMR-21-1250
https://doi.org/10.1115/1.4051206
Published Online: June 3, 2021
View Articletitled, Special Section: Design, Analysis and Actuation of Reconfigurable Parallel Mechanisms
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Topics: Design, Parallel mechanisms
Journal Articles

Structure Synthesis of a Class of Parallel Manipulators With Fully Decoupled Projective Motion

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Chin-Hsing Kuo, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031011.
Paper No: JMR-20-1451
https://doi.org/10.1115/1.4050151
Published Online: March 15, 2021
View Articletitled, Structure Synthesis of a Class of Parallel Manipulators With Fully Decoupled Projective Motion
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Topics: End effectors, Manipulators, Screws, Design
Journal Articles

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

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Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021014.
Paper No: JMR-20-1232
https://doi.org/10.1115/1.4049648
Published Online: February 23, 2021
View Articletitled, Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control
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Topics: Control equipment, Pole placement, Robots, Stability, Motors
Journal Articles

A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism

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Lingda Meng, Rongjie Kang, Dongming Gan, Guimin Chen, Lisha Chen, David T. Branson, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061005.
Paper No: JMR-19-1347
https://doi.org/10.1115/1.4046837
Published Online: May 12, 2020
View Articletitled, A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism
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Topics: Actuators, Robots, Springs, Shape memory alloys, Displacement, Design
Journal Articles

Stability Margin of a Metamorphic Quadruped Robot With a Twisting Trunk

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Chunsong Zhang, Chi Zhang, Jian S. Dai, Peng Qi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2019, 11(6): 064501.
Paper No: JMR-19-1012
https://doi.org/10.1115/1.4044600
Published Online: September 25, 2019
View Articletitled, Stability Margin of a Metamorphic Quadruped Robot With a Twisting Trunk
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Topics: Robots, Stability, Simulation
Journal Articles

Three Novel Symmetric Waldron–Bricard Metamorphic and Reconfigurable Mechanisms and Their Isomerization

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Xuheng Chai, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051011.
Paper No: JMR-19-1104
https://doi.org/10.1115/1.4044004
Published Online: July 12, 2019
View Articletitled, Three Novel Symmetric Waldron–Bricard Metamorphic and Reconfigurable Mechanisms and Their Isomerization
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Topics: Linkages
Journal Articles

Relevance and Transferability for Parallel Mechanisms With Reconfigurable Platforms

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Xi Kang, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 031012.
Paper No: JMR-18-1242
https://doi.org/10.1115/1.4042629
Published Online: April 9, 2019
View Articletitled, Relevance and Transferability for Parallel Mechanisms With Reconfigurable Platforms
Open the PDF for Relevance and Transferability for Parallel Mechanisms With Reconfigurable Platforms in another window
Topics: End effectors, Parallel mechanisms, Screws
Journal Articles

First- and Second-Order Kinematics-Based Constraint System Analysis and Reconfiguration Identification for the Queer-Square Mechanism

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Xi Kang, Xinsheng Zhang, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011004.
Paper No: JMR-18-1113
https://doi.org/10.1115/1.4041486
Published Online: November 12, 2018
View Articletitled, First- and Second-Order Kinematics-Based Constraint System Analysis and Reconfiguration Identification for the Queer-Square Mechanism
Open the PDF for First- and Second-Order Kinematics-Based Constraint System Analysis and Reconfiguration Identification for the Queer-Square Mechanism in another window
Topics: Constraint systems, Kinematics, Screws
Journal Articles

Motion Cycle and Configuration Torus With Their Relationship to Furcation During Reconfiguration

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Xuesi Ma, Xinsheng Zhang, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051006.
Paper No: JMR-17-1374
https://doi.org/10.1115/1.4040357
Published Online: July 9, 2018
View Articletitled, Motion Cycle and Configuration Torus With Their Relationship to Furcation During Reconfiguration
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Topics: Bifurcation, Cycles, Kinematics, Linkages
Journal Articles

Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot

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Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031009.
Paper No: JMR-17-1137
https://doi.org/10.1115/1.4039394
Published Online: April 5, 2018
View Articletitled, Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot
Open the PDF for Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot in another window
Topics: Control equipment, Stability, Feedback, Gravity (Force), Robots, Trajectories (Physics)
Journal Articles

Compositional Submanifolds of Prismatic–Universal–Prismatic and Skewed Prismatic–Revolute– Prismatic Kinematic Chains and Their Derived Parallel Mechanisms

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Xinsheng Zhang, Pablo López-Custodio, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031001.
Paper No: JMR-16-1303
https://doi.org/10.1115/1.4038218
Published Online: March 1, 2018
View Articletitled, Compositional Submanifolds of Prismatic–Universal–Prismatic and Skewed Prismatic–Revolute– Prismatic Kinematic Chains and Their Derived Parallel Mechanisms
Open the PDF for Compositional Submanifolds of Prismatic–Universal–Prismatic and Skewed Prismatic–Revolute– Prismatic Kinematic Chains and Their Derived Parallel Mechanisms in another window
Topics: Chain, Displacement, Kinematic chains, Parallel mechanisms, Rotation, Kinematics, Manifolds, Screws
Journal Articles

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

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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 Articletitled, 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
Journal Articles

Repelling-Screw Based Force Analysis of Origami Mechanisms

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Chen Qiu, Ketao Zhang, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2016, 8(3): 031001.
Paper No: JMR-15-1122
https://doi.org/10.1115/1.4031458
Published Online: March 7, 2016
View Articletitled, Repelling-Screw Based Force Analysis of Origami Mechanisms
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Topics: Linkages, Parallel mechanisms, Rotation, Screws, Modeling