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Keywords: Fixturing
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Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051002.
Paper No: JMR-18-1330
Published Online: July 8, 2019
... . 10.1177/0040517511427969 grasping fixturing Fig. 1 Geometry of the braided gripper Fig. 2 Grasping procedure of the braided gripper: ( a ) the normal state, ( b ) deployment of the gripper, ( c ) containing the object, and ( d ) lifting the object Fig. 3 Spreading of...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2018, 10(4): 044502.
Paper No: JMR-17-1231
Published Online: May 31, 2018
... Compliant mechanisms Grasping Mechanism design Mechanism synthesis Soft robots Fixturing Fig. 1 Flowchart of the topology optimization procedure Fig. 2 Design scheme for the compliant gripper Fig. 3 Design scheme for the compliant finger: ( a ) design domain and ( b...
Journal Articles
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2018, 10(4): 045001.
Paper No: JMR-17-1193
Published Online: April 18, 2018
... Fixturing Fig. 1 Architectural scheme of the manipulator. The blocks P, R, and S represent prismatic, revolute, and spherical joints, respectively. Fig. 2 The kinematic architecture of the robot Fig. 3 Geometrical description of the top platform and bottom stages Fig. 4...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031005.
Paper No: JMR-17-1351
Published Online: March 23, 2018
.... Mech. Rob. , 8 ( 2 ), p. 021018 . 10.1115/1.4031028 Compliant mechanisms Grasping Mechanism design Fixturing Fig. 1 Comparison of traditional parallel-jaw gripper's resolution and size/deformation of objects: ( a ) resolution of a jaw: Δ Jaw , ( b ) diameter of micro object: D...
Topics: Design, Grippers
Journal Articles
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2018, 10(2): 025006.
Paper No: JMR-17-1323
Published Online: February 5, 2018
...), Gaithersburg, MD, accessed Jan. 29, 2018, http://www.nist.gov/el/isd/grasp.cfm Flying robots Grasping Mechanism design Robot design Fixturing Table 1 Hand pullout strength 1 in tube, centered 1 in tube, offset 2 in tube, centered 2 in tube, offset Mean Deviation Mean...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011004.
Paper No: JMR-17-1133
Published Online: December 20, 2017
... the contact locations. Manuscript received May 4, 2017; final manuscript received November 15, 2017; published online December 20, 2017. Assoc. Editor: Veronica J. Santos. 1 Corresponding author. Grasping Prosthetics Fixturing Fig. 1...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061017.
Paper No: JMR-16-1232
Published Online: October 27, 2017
... Grasping Mechanism design Robot design Soft robots Fixturing Fig. 1 Basic concept of proposed microgripper-embedded fluid fingertip Fig. 2 Schematic view of microgripper-embedded fluid fingertip Fig. 3 Role of stoppers: ( a ) outer stoppers prevent gripper from opening more...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061011.
Paper No: JMR-17-1098
Published Online: October 9, 2017
... ) grasping, ( c ) grasped, and ( d ) released Compliant mechanisms Grasping Microscale mechanisms Robotics Fixturing Table 2 Comparison between analytical and FEA simulation results Parameter Analytical FEA Unit Error (%) K a 2.39 2 μ N/ μ m 19.5 K r...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051012.
Paper No: JMR-17-1007
Published Online: August 23, 2017
... the congruence transform, it could in general be positive semidefinite only, but if the grasp is also force closure, then it is positive definite. 1 Corresponding author. Actuators Bio inspired designs Compliant mechanisms Grasping Soft robots Transmissions Fixturing 09 01...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051004.
Paper No: JMR-16-1289
Published Online: August 4, 2017
... August 4, 2017. Assoc. Editor: Jun Ueda. 1 Corresponding author. Grasping Mechanism design Theoretical kinematics Fixturing Fig. 1 Typical closing sequence of an underactuated finger: ( a ) no contact, ( b ) first contact, and ( c ) second contact Fig. 2 Typical stiffness...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041003.
Paper No: JMR-16-1236
Published Online: April 27, 2017
..., 2017; published online April 27, 2017. Assoc. Editor: Sarah Bergbreiter. Actuators Grasping Mechanism design Transmissions Fixturing Fig. 1 Serial-drive finger geometry ( a ) and forces ( b ) Fig. 2 Parallel-drive finger geometry ( a ) and forces ( b ) Fig. 3...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031010.
Paper No: JMR-16-1192
Published Online: March 23, 2017
... Theoretical kinematics Fixturing Fig. 1 The dynamic model of a robot manipulator during target capture Fig. 2 The ellipsoid and the quasi-ellipsoid Fig. 3 The impulse ellipsoid Fig. 4 The inertia ellipsoids of the robot and the target Fig. 5 A simplified PUMA...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061021.
Paper No: JMR-16-1080
Published Online: October 25, 2016
.... Manuscript received March 24, 2016; final manuscript received September 5, 2016; published online October 25, 2016. Assoc. Editor: Leila Notash. Grasping Mechanism design Parallel platforms Robot design Fixturing Fig. 1 Spherical hands are hand topologies incorporating curved fingers with...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041014.
Paper No: JMR-15-1307
Published Online: March 28, 2016
... contact model that idealizes a point contact that deforms to have a contact area large enough to resist moments about the contact normal. Grasping Robot design Fixturing Fig. 1 Left: Hunt's kinematic-chain-based model of point contact without friction and its kinematic equivalent. Right...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041012.
Paper No: JMR-15-1114
Published Online: March 16, 2016
... Mechanism design Transmissions Fixturing Fig. 1 Schematic diagram of the proposed arm Fig. 2 Grasping movements for a moving object and a stationary object Fig. 3 Transmission scheme for the proposed robotic arm Fig. 4 Static equilibrium analysis of the robotic arm...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2016, 8(4): 044502.
Paper No: JMR-15-1083
Published Online: March 7, 2016
... design Grasping Mechanism design Mechanism synthesis Prosthetics Fixturing Fig. 1 Tested hands, and projection of the fingertip movements to the latent space and their AI. Left: Sensorhand (AI = 0.25) [ 4 ], middle: Michelangelo (AI = 2.8) [ 5 ], and right: FRH-4 (AI = 5.2) [ 3 , 6...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021008.
Paper No: JMR-15-1022
Published Online: November 24, 2015
... the range of its potential applications, including flexible industrial fixtures and deployable tents. The mechanism's basic deployable unit (DU) is assembled by combining a scissor linkage and a Sarrus linkage. The kinematic properties of these two components and of the combined unit are analyzed. The...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021006.
Paper No: JMR-15-1011
Published Online: November 24, 2015
... manuscript received August 8, 2015; published online November 24, 2015. Assoc. Editor: Yuefa Fang. Grasping Mechanism synthesis Fixturing Fig. 2 A tree topology with two splitting stages: ( a ) edge labeling and ( b ) number of joints in each edge. Fig. 3 Graphs for some wristed...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011020.
Paper No: JMR-15-1026
Published Online: September 25, 2015
... online September 25, 2015. Assoc. Editor: Aaron M. Dollar. Control Grasping Haptic devices Mechanism design Soft robots Fixturing Fig. 1 The one-DOF parallel jaw mechanism, which represents the first step toward the design of the haptic interface, namely, its actuated palm Fig...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021005.
Paper No: JMR-14-1212
Published Online: May 1, 2015
... Techniques Fixturing Table 1 Demonstrated capabilities of S μ S Minimum tip radius 2 μ m Feature radius of curvature 2– ∞ μ m Minimum feature size X 15 μ m Z 20 μ m Maximum local feature size X 30 cm Z 400 μ m Features per centimeter 0–650...