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Journal Articles

Special Issue: Selected Papers From IDETC-CIE 2023

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Dongming Gan, Ketao Zhang, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. November 2024, 16(11): 110301.
Paper No: JMR-24-1565
https://doi.org/10.1115/1.4066792
Published Online: October 15, 2024
View Articletitled, Special Issue: Selected Papers From IDETC-CIE 2023
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Topics: Design, Robotics, Computers and information in engineering , Computers, Dynamics (Mechanics), Engineering teachers, Kinematics, Robots
Proceedings Papers

Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges

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Zhujin Jiang, Ketao Zhang
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A047, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115262
https://doi.org/10.1115/DETC2023-115262
View Paper titled, Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges
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Topics: Bending (Stress), Hinges, Origami-inspired design, Parallel mechanisms, Robots, Stiffness
Proceedings Papers

A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles

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Zhujin Jiang, Chen Liu, Ketao Zhang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A057, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91176
https://doi.org/10.1115/DETC2022-91176
View Paper titled, A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles
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Topics: Additive manufacturing, Manipulators, Muscle, Stiffness, Bellows (Equipment), Engineering prototypes, Manufacturing, Parallel mechanisms, Pressure, Robotics
Proceedings Papers

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

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Simone Asci, Ketao Zhang
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A023, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70642
https://doi.org/10.1115/DETC2021-70642
View Paper titled, Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots
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Topics: Design, Kinematics, Robots, Simulation, Robotics, Actuators, Control systems, Kinematic analysis, Legged locomotion, Trajectories (Physics)
Journal Articles

Design and Analysis of a Novel Reconfigurable Parallel Manipulator With Kirigami-Inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors

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Ketao Zhang, Chen Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040911.
Paper No: JMR-20-1628
https://doi.org/10.1115/1.4050996
Published Online: May 19, 2021
View Articletitled, Design and Analysis of a Novel Reconfigurable Parallel Manipulator With Kirigami-Inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors
Open the PDF for Design and Analysis of a Novel Reconfigurable Parallel Manipulator With Kirigami-Inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors in another window
Topics: Kinematics, Linkages, Manipulators, Motors, Engines, Design
Proceedings Papers

Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand

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Matteo Calzati, Ketao Zhang, Vincenzo Parenti Castelli, Jian S. Dai
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A053, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59491
https://doi.org/10.1115/DETC2016-59491
View Paper titled, Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand
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Topics: End effectors, Kinematics, Control systems, Modeling, Circuits, Computer software, Control algorithms, Design, Engineering prototypes, Grasping
Proceedings Papers

Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions

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Volkert van der Wijk, Ketao Zhang, Jian S. Dai
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A058, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60068
https://doi.org/10.1115/DETC2016-60068
View Paper titled, Force Balance of a Spatial Metamorphic 6R Closed-Chain Linkage With Specific Kinematic Conditions
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Topics: Chain, Kinematics, Linkages, Design, Gravity (Force), Actuators, Brakes, Center of mass, Inertia (Mechanics), Robotics
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
Journal Articles

An Extensible Continuum Robot With Integrated Origami Parallel Modules

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Ketao Zhang, Chen Qiu, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2016, 8(3): 031010.
Paper No: JMR-15-1175
https://doi.org/10.1115/1.4031808
Published Online: March 7, 2016
View Articletitled, An Extensible Continuum Robot With Integrated Origami Parallel Modules
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Topics: Robots, Tendons
Proceedings Papers

Stiffness Design, Analysis and Validation of a Parallel-Mechanism Equivalent Suspension System

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Chen Qiu, Ketao Zhang, Jing Shan Zhao, Jian S. Dai
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A006, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46641
https://doi.org/10.1115/DETC2015-46641
View Paper titled, Stiffness Design, Analysis and Validation of a Parallel-Mechanism Equivalent Suspension System
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Topics: Design, Parallel mechanisms, Stiffness, Suspension systems, Kinematics, Stress, Deformation, Degrees of freedom, Optimization, Screws
Proceedings Papers

An Origami Parallel Structure Integrated Deployable Continuum Robot

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Ketao Zhang, Chen Qiu, Jian S. Dai
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A032, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46504
https://doi.org/10.1115/DETC2015-46504
View Paper titled, An Origami Parallel Structure Integrated Deployable Continuum Robot
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Topics: Robots, Kinematics, Design, Springs, Engineering prototypes, Origami-inspired design, Tendons
Journal Articles

Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel Mechanism

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Ketao Zhang, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. June 2015, 137(6): 062303.
Paper No: MD-14-1555
https://doi.org/10.1115/1.4030015
Published Online: June 1, 2015
View Articletitled, Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel Mechanism
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Topics: Linkages, Parallel mechanisms, Screws
Journal Articles

Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators

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Ketao Zhang, Chen Qiu, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021014.
Paper No: JMR-14-1217
https://doi.org/10.1115/1.4029494
Published Online: May 1, 2015
View Articletitled, Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators
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Topics: Actuators, Design, Robots, Springs
Proceedings Papers

Helical Kirigami-Inspired Centimeter-Scale Worm Robot With Shape-Memory-Alloy Actuators

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Ketao Zhang, Chen Qiu, Jian S. Dai
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A039, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34676
https://doi.org/10.1115/DETC2014-34676
View Paper titled, Helical Kirigami-Inspired Centimeter-Scale Worm Robot With Shape-Memory-Alloy Actuators
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Topics: Actuators, Robots, Shape memory alloys, Kinematics, Engineering prototypes, Inspection, Springs
Journal Articles

A Kirigami-Inspired 8R Linkage and Its Evolved Overconstrained 6R Linkages With the Rotational Symmetry of Order Two

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Ketao Zhang, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2014, 6(2): 021007.
Paper No: JMR-12-1152
https://doi.org/10.1115/1.4026337
Published Online: March 6, 2014
View Articletitled, A Kirigami-Inspired 8R Linkage and Its Evolved Overconstrained 6R Linkages With the Rotational Symmetry of Order Two
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Topics: Linkages
Proceedings Papers

Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel Manipulator

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Evangelos Emmanouil, Ketao Zhang, Jian S. Dai
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A052, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12445
https://doi.org/10.1115/DETC2013-12445
View Paper titled, Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel Manipulator
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Topics: Manipulators, Trajectories (Physics), Mechanical admittance, Algorithms, Engineering simulation, Robots, Simulation
Proceedings Papers

Classification of Origami-Enabled Foldable Linkages and Emerging Applications

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Ketao Zhang, Jian S. Dai
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A024, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12227
https://doi.org/10.1115/DETC2013-12227
View Paper titled, Classification of Origami-Enabled Foldable Linkages and Emerging Applications
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Topics: Linkages, Geometry, Manufacturing, Mechanical admittance, Origami-inspired design, Packaging, Robotics, Screws
Proceedings Papers

A Family of Overconstrained 6R Linkages With the Rotational Symmetry of Order 2

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Ketao Zhang, Jian S. Dai
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1527-1534, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70544
https://doi.org/10.1115/DETC2012-70544
View Paper titled, A Family of Overconstrained 6R Linkages With the Rotational Symmetry of Order 2
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Topics: Linkages, Geometry, Kinematics, Mechanical admittance, Rotation, Screws
Journal Articles

Geometric Constraint and Mobility Variation of Two 3S v PS v Metamorphic Parallel Mechanisms

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Ketao Zhang, Jian S. Dai, Yuefa Fang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. January 2013, 135(1): 011001.
Paper No: MD-11-1451
https://doi.org/10.1115/1.4007920
Published Online: November 19, 2012
View Articletitled, Geometric Constraint and Mobility Variation of Two 3S v PS v Metamorphic Parallel Mechanisms
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Topics: Mechanical admittance, Parallel mechanisms, Screws
Proceedings Papers

Geometry and Constraint Based Design of Metamorphic Parallel Mechanisms

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Ketao Zhang, Jian S. Dai, Yuefa Fang
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 931-940, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47703
https://doi.org/10.1115/DETC2011-47703
View Paper titled, Geometry and Constraint Based Design of Metamorphic Parallel Mechanisms
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Topics: Design, Geometry, Parallel mechanisms, Kinematics, Screws, Mechanical admittance