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Journal Articles

Design and Optimization of a Cable-Driven Parallel Polishing Robot With Kinematic Error Modeling

Bin Zhou, Shuainan Wu, Bin Zi, Weidong Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2025, 147(1): 013304.
Paper No: MD-24-1117
https://doi.org/10.1115/1.4065915
Published Online: August 21, 2024
View Article titled, Design and Optimization of a Cable-Driven Parallel Polishing Robot With Kinematic Error Modeling
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Topics: Cables, Errors, Kinematics, Robots, Modeling, Pareto optimization, Stiffness, Polishing, Design, Optimization
Journal Articles

Development and Optimization of a Noncircular Pulley for Motion Decoupling in Cable-Driven Serial Robots

Jinsai Cheng, Tao Shen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2024, 146(11): 113301.
Paper No: MD-23-1859
https://doi.org/10.1115/1.4065278
Published Online: May 21, 2024
View Article titled, Development and Optimization of a Noncircular Pulley for Motion Decoupling in Cable-Driven Serial Robots
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Topics: Cables, Errors, Optimization, Pulleys, Robots, Rotation, Design
Journal Articles

Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm

Bin Zhou, Sipan Li, Bin Zi, Bing Chen, Weidong Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2023, 145(8): 083301.
Paper No: MD-22-1730
https://doi.org/10.1115/1.4062458
Published Online: May 22, 2023
View Article titled, Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm
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Topics: Algorithms, Cables, Design, End effectors, Inertia (Mechanics), Particle swarm optimization, Weight (Mass), Kinematics, Robots, Optimization
Journal Articles

A Synergy-Based Approach for the Design of a Lower-Limb, Cable-Driven Exosuit

Daniel Rodriguez Jorge, Javier Bermejo-Garcìa, Ashwin Jayakumar, Francisco Romero-Sánchez, Francisco Javier Alonso
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2022, 144(10): 103302.
Paper No: MD-21-1746
https://doi.org/10.1115/1.4054768
Published Online: June 30, 2022
View Article titled, A Synergy-Based Approach for the Design of a Lower-Limb, Cable-Driven Exosuit
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Topics: Actuators, Cables, Design, Pulleys
Journal Articles

Design of Unmanned Cable Shovel Based on Multiobjective Co-Design Optimization of Structural and Control Parameters

Tianci Zhang, Tao Fu, Xueguan Song
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2022, 144(9): 091708.
Paper No: MD-22-1037
https://doi.org/10.1115/1.4054808
Published Online: June 29, 2022
View Article titled, Design of Unmanned Cable Shovel Based on Multiobjective Co-Design Optimization of Structural and Control Parameters
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Topics: Cables, Design, Optimization, Trajectories (Physics)
Journal Articles

Design of a Tensegrity Servo-Actuated Structure for Civil Applications

Cecilia Scoccia, Luca Carbonari, Giacomo Palmieri, Massimo Callegari, Marco Rossi, Placido Munafó, Francesco Marchione, Gianluca Chiappini
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2022, 144(4): 043302.
Paper No: MD-21-1355
https://doi.org/10.1115/1.4053283
Published Online: January 17, 2022
View Article titled, Design of a Tensegrity Servo-Actuated Structure for Civil Applications
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Topics: Cables, Deformation, Glass, Metals, Servomechanisms, Stress, Tensegrity, Tensegrity structures, Design, Mechatronic devices
Journal Articles

An Optimization Framework for the Design of Cable Harness Layouts in Planar Interconnected Systems

Nafiseh Masoudi, Georges Fadel
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2022, 144(1): 011701.
Paper No: MD-20-1813
https://doi.org/10.1115/1.4051685
Published Online: July 20, 2021
View Article titled, An Optimization Framework for the Design of Cable Harness Layouts in Planar Interconnected Systems
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Topics: Cables, Design, Optimization, Wire, Hull
Journal Articles

Design and Error Evaluation of Planar 2DOF Remote Center of Motion Mechanisms With Cable Transmissions

Long Huang, Lairong Yin, Bei Liu, Yang Yang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2021, 143(1): 013301.
Paper No: MD-20-1088
https://doi.org/10.1115/1.4047519
Published Online: July 27, 2020
View Article titled, Design and Error Evaluation of Planar 2DOF Remote Center of Motion Mechanisms With Cable Transmissions
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Topics: Cables, Errors, Pulleys, Drive chain
Journal Articles

Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines

Sen Qian, Kunlong Bao, Bin Zi, W. D. Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2020, 142(7): 073301.
Paper No: MD-19-1512
https://doi.org/10.1115/1.4045723
Published Online: February 14, 2020
View Article titled, Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines
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Topics: B-splines, Cables, Degrees of freedom, End effectors, Robots, Trajectories (Physics), Kinematics, Tension
Journal Articles

Singularity Analysis on a Special Class of Cable-Suspended Parallel Mechanisms With Pairwise Cable Arrangement and Actuation Redundancy

Lewei Tang, Pengshuai Shi, Li Wu, Xiaoyu Wu, Xiaoqiang Tang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. February 2020, 142(2): 024501.
Paper No: MD-19-1024
https://doi.org/10.1115/1.4043937
Published Online: October 16, 2019
View Article titled, Singularity Analysis on a Special Class of Cable-Suspended Parallel Mechanisms With Pairwise Cable Arrangement and Actuation Redundancy
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Topics: Cables, End effectors, Redundancy (Engineering), Parallel mechanisms
Journal Articles

Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots

Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2019, 141(9): 092305.
Paper No: MD-18-1547
https://doi.org/10.1115/1.4043932
Published Online: July 19, 2019
View Article titled, Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots
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Topics: Actuators, Failure, Jacobian matrices, Robots, Robotics, Cables, End effectors, Grasping, Optimization
Journal Articles

Redundancy Allocation for Multistate Systems With Component Dependencies and Load Sharing

Jing Wang, Mian Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. November 2016, 138(11): 111403.
Paper No: MD-16-1131
https://doi.org/10.1115/1.4034108
Published Online: September 12, 2016
View Article titled, Redundancy Allocation for Multistate Systems With Component Dependencies and Load Sharing
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Topics: Failure, Optimization, Redundancy (Engineering), Reliability, Stress, Maintenance, Cables, Design
Journal Articles

Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators

Darwin Lau, Denny Oetomo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. March 2016, 138(3): 032303.
Paper No: MD-15-1432
https://doi.org/10.1115/1.4032402
Published Online: January 27, 2016
View Article titled, Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators
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Topics: Cables, Manipulators
Journal Articles

Design for Additive Manufacture of Fine Medical Instrumentation—DragonFlex Case Study

Filip Jelínek, Paul Breedveld
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. November 2015, 137(11): 111416.
Paper No: MD-15-1158
https://doi.org/10.1115/1.4030997
Published Online: October 12, 2015
View Article titled, Design for Additive Manufacture of Fine Medical Instrumentation—DragonFlex Case Study
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Topics: Cables, Design, Engineering prototypes, Instrumentation, Printing, Manufacturing, Biomedicine, Biocompatibility
Journal Articles

Design of a Compact Robotic Manipulator for Single-Port Laparoscopy

Claudio Quaglia, Gianluigi Petroni, Marta Niccolini, Sebastiano Caccavaro, Paolo Dario, Arianna Menciassi
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. October 2014, 136(10): 105001.
Paper No: MD-13-1148
https://doi.org/10.1115/1.4027782
Published Online: July 30, 2014
View Article titled, Design of a Compact Robotic Manipulator for Single-Port Laparoscopy
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Topics: Design, Manipulators, Motors, Robotics, Robots, Surgery, Cables, Grippers, Gears, Kinematics
Journal Articles

Design of a Magnetic Resonance Imaging-Compatible Cable-Driven Manipulator With New Instrumentation and Synthesis Methods

S. Abdelaziz, L. Esteveny, L. Barbé, P. Renaud, B. Bayle, M. de Mathelin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2014, 136(9): 091006.
Paper No: MD-13-1262
https://doi.org/10.1115/1.4027783
Published Online: June 19, 2014
View Article titled, Design of a Magnetic Resonance Imaging-Compatible Cable-Driven Manipulator With New Instrumentation and Synthesis Methods
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Topics: Cables, Design, Instrumentation, Manipulators, Tension, Engineering prototypes, Magnetic resonance imaging
Journal Articles

Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST

Xiaoqiang Tang, Rui Yao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2011, 133(11): 111012.
https://doi.org/10.1115/1.4004988
Published Online: November 17, 2011
View Article titled, Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST
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Topics: Cables, Manipulators, Tension
Journal Articles

Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach

Darwin Lau, Denny Oetomo, Saman K. Halgamuge
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2011, 133(7): 071004.
https://doi.org/10.1115/1.4004222
Published Online: July 8, 2011
View Article titled, Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach
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Topics: Cables, Manipulators
Journal Articles

New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments

Samer Alfayad, Fethi B. Ouezdou, Faycal Namoun
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. February 2011, 133(2): 021005.
https://doi.org/10.1115/1.4003250
Published Online: January 25, 2011
View Article titled, New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments
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Topics: Actuators, Cables, Design, Design engineering, Humanoid robots, Kinematics, Modeling, Simulation, Yaw, Screws
Journal Articles

Kinematics and Dynamics of a Self-Stressed Cartesian Cable-Driven Mechanism

Saeed Behzadipour
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2009, 131(6): 061005.
https://doi.org/10.1115/1.3125206
Published Online: May 19, 2009
View Article titled, Kinematics and Dynamics of a Self-Stressed Cartesian Cable-Driven Mechanism
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Topics: Cables, Stiffness, Kinematics, End effectors, Dynamics (Mechanics)