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Journal Articles

Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance

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Sen Xu, Kai Tang, Lingmin Xu, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031003.
Paper No: JMR-24-1141
https://doi.org/10.1115/1.4066136
Published Online: September 3, 2024
View Articletitled, Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
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Topics: Calibration, Design, Exoskeleton devices, Modeling, Rods, Stiffness, Torque, Parallel mechanisms, Errors
Journal Articles

An Efficient Kinematic Calibration Method for Parallel Robots With Compact Multi-Degrees-of-Freedom Joint Models

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Weijia Zhang, Zikang Shi, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101011.
Paper No: JMR-23-1707
https://doi.org/10.1115/1.4064637
Published Online: February 28, 2024
View Articletitled, An Efficient Kinematic Calibration Method for Parallel Robots With Compact Multi-Degrees-of-Freedom Joint Models
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Topics: Calibration, Error compensation, Errors, Kinematics, Robots, Modeling, Simulation, End effectors
Journal Articles

Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot

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Lingmin Xu, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054501.
Paper No: JMR-22-1580
https://doi.org/10.1115/1.4062649
Published Online: June 26, 2023
View Articletitled, Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot
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Topics: Cavities, Design, Kinematics, Machining, Robots, Optimization, Performance evaluation
Includes: Supplementary data
Journal Articles

Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces

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Lingmin Xu, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051001.
Paper No: JMR-23-1010
https://doi.org/10.1115/1.4062607
Published Online: June 9, 2023
View Articletitled, Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces
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Topics: Kinematics, Machining, Manipulators, Robots, Design, Stiffness, Mechanical admittance, Optimization, Performance evaluation
Journal Articles

A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators

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Ziying Lin, Lingmin Xu, Ye Ding, Xiangyang Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041016.
Paper No: JMR-22-1382
https://doi.org/10.1115/1.4062304
Published Online: May 2, 2023
View Articletitled, A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators
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Topics: Design, Kinematics, Manipulators, Redundancy (Engineering), Stiffness, Actuators, Linkages, Mechanical admittance, Optimization
Journal Articles

Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization

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MuBang Xiao, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021006.
Paper No: JMR-20-1325
https://doi.org/10.1115/1.4048916
Published Online: January 22, 2021
View Articletitled, Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization
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Topics: Kinematics, Parametrization, Spin (Aerodynamics), Rotation
Journal Articles

Shape Deposition Manufacturing of a Soft, Atraumatic, and Deployable Surgical Grasper

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Joshua Gafford, Ye Ding, Andrew Harris, Terrence McKenna, Panagiotis Polygerinos, Dónal Holland, Conor Walsh, Arthur Moser
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021006.
Paper No: JMR-14-1215
https://doi.org/10.1115/1.4029493
Published Online: May 1, 2015
View Articletitled, Shape Deposition Manufacturing of a Soft, Atraumatic, and Deployable Surgical Grasper
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Topics: Cables, Design, Manufacturing, Robotics, Surgery, Stiffness, Shapes, Biological tissues, Bending (Stress), Grasping