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Journal Articles

Novel soft gripper with adjustable performance based on blade flexures

Accepted Manuscript
Mauricio Arredondo-Soto, Enrique Cuan-Urquizo, Alfonso Gómez-Espinosa, Armando Roman-Flores, Rafiq Ahmad
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des.
Paper No: MD-24-1053
https://doi.org/10.1115/1.4066548
Published Online: September 13, 2024
View Article titled, Novel soft gripper with adjustable performance based on blade flexures
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Topics: Blades, Design, Grippers, Robots, Displacement, Machine components, Overlays (Materials engineering), Rigid-body mechanisms, Shapes, Stiffness
Journal Articles

Structural–Parametric Synthesis of Single-Loop 6R and 7R Mechanisms Using Factorization of Motion Polynomials and Its Application in Grippers

Meng Li, Kai Liu, Jingfang Liu, Huafeng Ding
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2024, 146(12): 123302.
Paper No: MD-24-1261
https://doi.org/10.1115/1.4065724
Published Online: July 12, 2024
View Article titled, Structural–Parametric Synthesis of Single-Loop 6R and 7R Mechanisms Using Factorization of Motion Polynomials and Its Application in Grippers
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Topics: Grippers, Polynomials, Chain
Journal Articles

Structural Designs of Novel Deployable Polyhedral Grippers for Noncontact Capturing Missions

Ruijie Tang, Qizhi Meng, Fugui Xie, Xin-Jun Liu, Jinsong Wang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2024, 146(4): 043302.
Paper No: MD-23-1336
https://doi.org/10.1115/1.4063968
Published Online: November 21, 2023
View Article titled, Structural Designs of Novel Deployable Polyhedral Grippers for Noncontact Capturing Missions
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Topics: Chain, Design, Grippers, Mechanical admittance, Structural design, Flow (Dynamics), Kinematic analysis
Journal Articles

Bistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation

Xiaowei Shan, Lionel Birglen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. April 2024, 146(4): 045001.
Paper No: MD-23-1495
https://doi.org/10.1115/1.4063763
Published Online: November 7, 2023
View Article titled, Bistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation
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Topics: Artificial neural networks, Design, Finite element analysis, Grasping, Grippers, Robotics, Errors, Kinematics
Journal Articles

Flexure Hinge Design and Optimization for Compact Anthropomorphic Grippers Made via Metal Additive Manufacturing

Martin Tschiersky, Jan J. de Jong, Dannis M. Brouwer
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. January 2024, 146(1): 015001.
Paper No: MD-23-1347
https://doi.org/10.1115/1.4063362
Published Online: October 6, 2023
View Article titled, Flexure Hinge Design and Optimization for Compact Anthropomorphic Grippers Made via Metal Additive Manufacturing
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Topics: Bending (Stress), Design, Grippers, Hinges, Optimization, Stress, Simulation, Tendons, Additive manufacturing, Stiffness
Journal Articles

Task-Oriented Methodology Combining Human Manual Gestures and Robotic Grasp Stability Analyses: Application to the Specification of Dexterous Robotic Grippers

Jonatan Martin Escorcia-Hernandez, Mathieu Grossard, Florian Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2023, 145(4): 041408.
Paper No: MD-22-1322
https://doi.org/10.1115/1.4056493
Published Online: January 10, 2023
View Article titled, Task-Oriented Methodology Combining Human Manual Gestures and Robotic Grasp Stability Analyses: Application to the Specification of Dexterous Robotic Grippers
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Topics: Design, End effectors, Grippers, Stability, Testing, Optimization, Robotics, Tactile sensors, Needles, Kinematics
Journal Articles

An Articulated Robotic Forceps Design With a Parallel Wrist-Gripper Mechanism and Parasitic Motion Compensation

Merve Bazman, Nural Yilmaz, Ugur Tumerdem
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2022, 144(6): 063303.
Paper No: MD-21-1224
https://doi.org/10.1115/1.4053465
Published Online: February 15, 2022
View Article titled, An Articulated Robotic Forceps Design With a Parallel Wrist-Gripper Mechanism and Parasitic Motion Compensation
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Topics: Actuators, Design, Grippers, Kinematics, Robotics, Simulation, Thrust, Yaw, Motion compensation, End effectors
Journal Articles

A Novel Two-Stage Constant Force Compliant Microgripper

Tingting Ye, Jie Ling, Xi Kang, Zhao Feng, Xiaohui Xiao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2021, 143(5): 053302.
Paper No: MD-20-1085
https://doi.org/10.1115/1.4048217
Published Online: October 28, 2020
View Article titled, A Novel Two-Stage Constant Force Compliant Microgripper
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Topics: Deformation, Design, Displacement, Modeling, Simulation, Stiffness, Finite element analysis, Bending (Stress), Hinges, Grippers
Journal Articles

A Comprehensive Survey on Microgrippers Design: Mechanical Structure

Matteo Verotti, Alden Dochshanov, Nicola P. Belfiore
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Review Articles
J. Mech. Des. June 2017, 139(6): 060801.
Paper No: MD-16-1535
https://doi.org/10.1115/1.4036351
Published Online: May 3, 2017
View Article titled, A Comprehensive Survey on Microgrippers Design: Mechanical Structure
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Topics: Compliant mechanisms, Design, Geometry, Grippers, Kinematic chains, Mechanical structures, Microelectromechanical systems, Kinematics
Journal Articles

Estimating Optimized Stress Bounds in Early Stage Design of Compliant Mechanisms

Sree Kalyan Patiballa, Girish Krishnan
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. June 2017, 139(6): 062302.
Paper No: MD-16-1711
https://doi.org/10.1115/1.4036305
Published Online: April 12, 2017
View Article titled, Estimating Optimized Stress Bounds in Early Stage Design of Compliant Mechanisms
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Topics: Compliant mechanisms, Design, Stress, Stiffness, Grippers
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

A Constant-Force Compliant Gripper for Handling Objects of Various Sizes

Jung-Yuan Wang, Chao-Chieh Lan
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. July 2014, 136(7): 071008.
Paper No: MD-13-1311
https://doi.org/10.1115/1.4027285
Published Online: April 28, 2014
View Article titled, A Constant-Force Compliant Gripper for Handling Objects of Various Sizes
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Topics: Grippers
Journal Articles

On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper

Mathieu Baril, Thierry Laliberté, Clément Gosselin, François Routhier
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. December 2013, 135(12): 121008.
Paper No: MD-12-1520
https://doi.org/10.1115/1.4025493
Published Online: October 4, 2013
View Article titled, On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper
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Topics: Artificial limbs, Design, Grasping, Grippers, Levers, Tendons, Friction
Journal Articles

Design and Realization of Multimobile Robot System With Docking Manipulator

Wei Wang, Houxiang Zhang, Wenpeng Yu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. November 2010, 132(11): 114502.
https://doi.org/10.1115/1.4002719
Published Online: November 3, 2010
View Article titled, Design and Realization of Multimobile Robot System With Docking Manipulator
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Topics: Design, Grippers, Manipulators, Robots, Errors, Rotation, Grasping
Journal Articles

Gripper Design With Spherical Parallelogram Mechanism

Hikmet Kocabas
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovations
J. Mech. Des. July 2009, 131(7): 075001.
https://doi.org/10.1115/1.3125891
Published Online: May 27, 2009
View Article titled, Gripper Design With Spherical Parallelogram Mechanism
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Topics: Grasping, Grippers, Linkages, Design
Journal Articles

Geometric Optimization of Spatial Compliant Mechanisms Using Three-Dimensional Wide Curves

Hong Zhou, Kwun-Lon Ting
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2009, 131(5): 051002.
https://doi.org/10.1115/1.3086792
Published Online: April 3, 2009
View Article titled, Geometric Optimization of Spatial Compliant Mechanisms Using Three-Dimensional Wide Curves
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Topics: Compliant mechanisms, Deformation, Optimization, Design, Geometry, Grippers, Cross section (Physics), Finite element analysis, Nonlinear programming, Topology
Journal Articles

Geometric Modeling and Synthesis of Spatial Multimaterial Compliant Mechanisms and Structures Using Three-Dimensional Multilayer Wide Curves

Hong Zhou, Kwun-Lon Ting
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2009, 131(1): 011005.
https://doi.org/10.1115/1.3013355
Published Online: December 11, 2008
View Article titled, Geometric Modeling and Synthesis of Spatial Multimaterial Compliant Mechanisms and Structures Using Three-Dimensional Multilayer Wide Curves
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Topics: Compliant mechanisms, Cross section (Physics), Deformation, Design, Geometric modeling, Grippers, Optimization, Topology, Geometry, Finite element analysis
Journal Articles

Distributed Shape Optimization of Compliant Mechanisms Using Intrinsic Functions

Chao-Chieh Lan, Yung-Jen Cheng
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2008, 130(7): 072304.
https://doi.org/10.1115/1.2890117
Published Online: May 20, 2008
View Article titled, Distributed Shape Optimization of Compliant Mechanisms Using Intrinsic Functions
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Topics: Compliant mechanisms, Design, Shapes, Stress, Deformation, Optimization, Shape optimization, Rotation, Grippers
Journal Articles

An Analytical Contact Model for Design of Compliant Fingers

Chao-Chieh Lan, Kok-Meng Lee
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2008, 130(1): 011008.
https://doi.org/10.1115/1.2803655
Published Online: December 7, 2007
View Article titled, An Analytical Contact Model for Design of Compliant Fingers
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Topics: Deflection, Deformation, Design, Finite element methods, Grippers, Manufacturing, Shapes, Shear (Mechanics), Snap fitting, Geometry
Journal Articles

Freeform Skeletal Shape Optimization of Compliant Mechanisms

Dong Xu, G. K. Ananthasuresh
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. June 2003, 125(2): 253–261.
https://doi.org/10.1115/1.1563634
Published Online: June 11, 2003
View Article titled, Freeform Skeletal Shape Optimization of Compliant Mechanisms
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Topics: Compliant mechanisms, Design, Optimization, Shape optimization, Shapes, Topology, Grippers, Sensitivity analysis