Forthcoming articles


International Journal of Mechanisms and Robotic Systems


These articles have been peer-reviewed and accepted for publication in IJMRS, but are pending final changes, are not yet published and may not appear here in their final order of publication until they are assigned to issues. Therefore, the content conforms to our standards but the presentation (e.g. typesetting and proof-reading) is not necessarily up to the Inderscience standard. Additionally, titles, authors, abstracts and keywords may change before publication. Articles will not be published until the final proofs are validated by their authors.


Forthcoming articles must be purchased for the purposes of research, teaching and private study only. These articles can be cited using the expression "in press". For example: Smith, J. (in press). Article Title. Journal Title.


Articles marked with this shopping trolley icon are available for purchase - click on the icon to send an email request to purchase.


Articles marked with this Open Access icon are freely available and openly accessible to all without any restriction except the ones stated in their respective CC licenses.


Register for our alerting service, which notifies you by email when new issues of IJMRS are published online.


We also offer RSS feeds which provide timely updates of tables of contents, newly published articles and calls for papers.


International Journal of Mechanisms and Robotic Systems (5 papers in press)


Regular Issues


  • Characterization and Control of IPMC for Use in Bio-inspired Actuators   Order a copy of this article
    by Sabreen Abdallah Abdelwahab, Farid A. Tolbah, Magdy M. Abdelhameed, Mohamed B. Trabia, Mohammed I. Awad 
    Abstract: this paper presents the development and design of a bio-inspired artificial muscle actuator. The proposed design uses Ionic Polymeric Metallic Composites (IPMC), which functions as the force generating source in the actuator. The relation between input voltage and position of the end point IPMC actuator was characterized experimentally. A mathematical model is developed and used in controlling the IPMC motion using a PID controller. The controller shows a good tracking of the reference signals sent to test the system. A real time control system is developed. Experimental results show that it exhibited good tracking with respect to the reference signals.
    Keywords: IPMC Control; PID; Linear Actuator; Modeling; IPMC Characterization; bio-inspired actuator; Soft Robotics; Real Time Control.

  • Control of a snake robot with 3R joint mechanism   Order a copy of this article
    by Rajashekhar V S, Pravin T, Thiruppathi K 
    Abstract: The control of a snake robot on the flat andrninclined surfaces is difficult due to different sequences ofrnactuation of actuators. This paper explains the control of twornsets of three revolute joint mechanism in the snake robot withrnthe help of servo motors. It is possible for the snake robot tornexhibit concertina motion and side winding motion. There arernseven servo motors which play an important role inrnperforming concertina motion. Side winding motion isrnperformed with the help of two DC motors. In this paper,rncontrolling the seven servo motors and two DC motors arerndiscussed which enables the snake robot to exhibit the twornmotions. The simulation results validate the working of thernsnake robot and the implemented snake robot is shown.
    Keywords: 2[3R] joint mechanism; concertina motion; side winding motion; linear control; snake robot; pulse width modulation wave.

  • Experimental investigation on attachment properties of dry adhesives used in climbing robots   Order a copy of this article
    by Matthew Powelson, Stephen Canfield 
    Abstract: Mobile climbing robots commonly use magnets or active suction as their adhesive elements, but dry elastomer adhesives and particularly bio-inspired patterned elastomer adhesives are an area of increasing interest in robotics research. However, these patterned elastomer adhesives are not widely available. As a result, the authors propose the use of a commercially-available micro suction tape known as Regabond-S as the adhesion mechanism for climbing robots. In order to be useful in design, the performance of the adhesive must be understood. The authors propose a model for micro suction tapes that relates preloading with the maximum sustainable adhesion. The model suggests that the adhesion comes from a combination of van der Waals and suction forces, and its performance falls between unpatterned and patterned elastomers. The model is then experimentally verified and compared with other elastomer adhesives on acrylic, brushed aluminum, and steel surfaces. These results are then demonstrated on a track-based climbing mobile robot.
    Keywords: Regabond-S; Suction Cup Tape; Dry Adhesive; Climbing Robots; Vytaflex; micro suction; elastomeric adhesion; van der Waals.

  • Dynamic Analysis of Six-Axis Stewart Platform Using Flexible Joints   Order a copy of this article
    by Mohd Furqan, Mohd Suhaib, Nazeer Ahmad 
    Abstract: This paper presents the dynamic modeling and finite element analysis for a six-axis Stewart platform. The paper is divided into three parts. In the first part, the dynamic modeling of the Stewart platform including inverse dynamic is presented to evaluate the various parameters for the Stewart platform using MATLAB. The second part includes the fabrication and finite element analysis of the model. The modal analysis is used to determine the mode shape or natural frequencies of the six-axis Stewart platform using ANSYS. In the third part, the experimental set-up is presented and the model is validated with the help of ANSYS and MSC ADAMS. There is a close agreement between the modal analysis results obtained by ANSYS and ADAMS. The vertical transmissibility is also obtained for each natural frequency. The corner frequency obtained by the experimental result is the same as the frequency predicted by the harmonic analysis using ANSYS.
    Keywords: Parallel manipulators; Stewart platform; Flexible joints; Dynamics; Finite element analysis; Mode shape.

  • Cost Analysis of Systems with Mixed Standby Units   Order a copy of this article
    by Ibrahim Yusuf, Ya'u Balarabe Musa 
    Abstract: This paper deals with evaluation of cost of four dissimilar configurations with mixed standby units. The standby units exist as warm and cold standby. It is assumed that failure and repair time of all units are assumed to be exponentially distributed. Explicit expressions for busy period of repairmen, steady-state availability and profit function are derived using linear first order differential equations. Several cases are analyzed graphically to investigate the effects of various system parameters on profit. The paper also presents graphical comparison for specific values of system parameters and finds that the optimal system configuration is configuration I.
    Keywords: Profit; mixed standby; availability.