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Journal Articles

Point-Based Models: A Unified Approach for Geometric Constraint Analysis of Planar n -Bar Mechanisms With Rotary, Sliding, and Rolling Joints

Zhijie Lyu, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044514.
Paper No: JMR-24-1500
https://doi.org/10.1115/1.4066963
Published Online: January 20, 2025
View Article titled, Point-Based Models: A Unified Approach for Geometric Constraint Analysis of Planar n -Bar Mechanisms With Rotary, Sliding, and Rolling Joints
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Topics: Actuators, Constraint equations, Kinematics, Simulation, Wheels, Belts, Mechanical admittance, Stiffness, Algorithms
Journal Articles

On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots

Neel Shihora, Jared Lawson, Paul Moubarak, Maximilian Reese, Long Wang, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061013.
Paper No: JMR-24-1386
https://doi.org/10.1115/1.4067432
Published Online: January 20, 2025
View Article titled, On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots
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Topics: Kinematics, Tension, Uncertainty, Wire, Design, End effectors, Robots
Journal Articles

Design and Analysis of a Bimanual Parallel Dexterous Hand With Cooperative Manipulation Capability

Donglai Xu, Sheng Guo, Fuqun Zhao, Xiaodong Jin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061014.
Paper No: JMR-24-1269
https://doi.org/10.1115/1.4067481
Published Online: January 20, 2025
View Article titled, Design and Analysis of a Bimanual Parallel Dexterous Hand With Cooperative Manipulation Capability
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Topics: Design, Engineering prototypes, Jacobian matrices, Kinematics, Parallel mechanisms, Rotation, Stiffness, Shapes, Manufacturing, Pinch effect
Journal Articles

An Ultrasound-Guided Miniature Hand-Eye Integrated Robot for Percutaneous Needle Placement

Haiyuan Li, Tian He, Mingda Yang, Minghui Chao, Qinjian Zhang, Hongxing Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2025, 17(6): 065001.
Paper No: JMR-24-1347
https://doi.org/10.1115/1.4067530
Published Online: January 20, 2025
View Article titled, An Ultrasound-Guided Miniature Hand-Eye Integrated Robot for Percutaneous Needle Placement
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Topics: Calibration, Needles, Robots, Kinematics, Probes, Ultrasound
Journal Articles

Force-Motion Coupled Mechanism Synthesis Method of Heavy Load Parallel Kinematic Mechanism for Multi-DoF Forming Process

Shuai Xin, Fangyan Zheng, Xinghui Han, Lin Hua, Wuhao Zhuang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051011.
Paper No: JMR-24-1426
https://doi.org/10.1115/1.4067531
Published Online: January 20, 2025
View Article titled, Force-Motion Coupled Mechanism Synthesis Method of Heavy Load Parallel Kinematic Mechanism for Multi-DoF Forming Process
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Topics: Actuators, Bearings, Dimensions, Kinematics, Screws, Stress, Knudsen number, Forming equipment (Packaging)
Journal Articles

Elastostatic Performance Evaluation of a Full-mobility Parallel-kinematics Machine with Flexible Links

Accepted Manuscript
Qi Sun, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1529
https://doi.org/10.1115/1.4067621
Published Online: January 10, 2025
View Article titled, Elastostatic Performance Evaluation of a Full-mobility Parallel-kinematics Machine with Flexible Links
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Topics: Kinematics, Machinery, Mechanical admittance, Performance evaluation, Robots, Stiffness, Engines, Motors, Rods, Springs
Journal Articles

Uniform stretch behavior of creased units

Accepted Manuscript
Qian Zhang, Marco Meloni, Jian Feng, Jianguo Cai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1307
https://doi.org/10.1115/1.4067623
Published Online: January 10, 2025
View Article titled, Uniform stretch behavior of creased units
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Topics: Deformation, Design, Dynamics (Mechanics), Kinematics, Rotation, Shapes, Stiffness, Tension
Journal Articles

Construction of Confidence Regions for Uncertain Spatial Displacements With Dual Rodrigues Parameters

Accepted Manuscript
Zihan Yu, Qiaode Jeffrey Ge, Mark Langer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics.
Paper No: JMR-24-1448
https://doi.org/10.1115/1.4067625
Published Online: January 10, 2025
View Article titled, Construction of Confidence Regions for Uncertain Spatial Displacements With Dual Rodrigues Parameters
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Topics: Algebra, Computation, Construction, Displacement, Kinematics, Rotation, Screws
Journal Articles

Announcing the Journal of Mechanisms and Robotics 2023 Best Paper Award

Accepted Manuscript
Venkat Krovi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics.
Paper No: JMR-24-1525
https://doi.org/10.1115/1.4067433
Published Online: December 13, 2024
View Article titled, Announcing the Journal of Mechanisms and Robotics 2023 Best Paper Award
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Topics: Robotics, Sensors, Actuators, Haptics, Kinematics, Manipulators, Mobile robots, Multibody dynamics, Robots, Wearable devices
Journal Articles

Path Generative Model Based on Conditional β -Variational Auto Encoder for Four-Bar Mechanism Design

Anar Nurizada, Zhijie Lyu, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061004.
Paper No: JMR-24-1110
https://doi.org/10.1115/1.4067169
Published Online: December 12, 2024
View Article titled, Path Generative Model Based on Conditional β -Variational Auto Encoder for Four-Bar Mechanism Design
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Topics: Artificial neural networks, Design, Kinematics, Linkages, Machine learning, Algorithms, Performance
Journal Articles

Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy

Lingmin Xu, Wei Ye, Qinchuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061007.
Paper No: JMR-23-1761
https://doi.org/10.1115/1.4067228
Published Online: December 12, 2024
View Article titled, Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy
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Topics: Evaluation methods, Manipulators, Reactor protection systems, Redundancy (Engineering), Screws, Robots, Kinematics, Universal joints, Stress
Journal Articles

Kinematic Analysis and Trajectory Planning of Multi-Segment Continuum Manipulator

Zhengfeng Bai, Yuxin Niu, Qingfeng Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061008.
Paper No: JMR-24-1119
https://doi.org/10.1115/1.4067229
Published Online: December 12, 2024
View Article titled, Kinematic Analysis and Trajectory Planning of Multi-Segment Continuum Manipulator
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Topics: Kinematics, Manipulators, Trajectories (Physics), Simulation, Actuators, Algorithms
Journal Articles

Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra

Yu Xiao, Lingmin Xu, Guochang Zheng, Qinchuan Li, Xinxue Chai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061006.
Paper No: JMR-24-1461
https://doi.org/10.1115/1.4067230
Published Online: December 12, 2024
View Article titled, Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra
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Topics: Algebra, Blades, Kinematics, Screws, Polynomials
Journal Articles

Fully foldable mechanical metamaterials with isotropic auxeticity and its generated multi-mode folding form

Accepted Manuscript
Lin Li, Feiyu Yang, Fufu Yang, Rongfu Lin, Jun Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1302
https://doi.org/10.1115/1.4067345
Published Online: December 6, 2024
View Article titled, Fully foldable mechanical metamaterials with isotropic auxeticity and its generated multi-mode folding form
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Topics: Kinematics, Metamaterials, Auxetics, Absorption, Bistability, Compression, Engineering prototypes, Load bearing capacity, Robots, Rotation
Journal Articles

Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction

Sen Qian, Changqi Li, Zeyao Zhao, Bin Zi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061002.
Paper No: JMR-24-1340
https://doi.org/10.1115/1.4067022
Published Online: November 22, 2024
View Article titled, Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction
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Topics: Additive manufacturing, Cables, Construction, End effectors, Errors, Gravity (Force), Kinematics, Motion control, Path planning, Printing
Journal Articles

Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands

Thiha Zaw, Dasharadhan Mahalingam, Nicholas Baiata, Aditya Patankar, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044512.
Paper No: JMR-24-1456
https://doi.org/10.1115/1.4067024
Published Online: November 22, 2024
View Article titled, Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands
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Topics: Design, Kinematic analysis, Kinematics, Motors, Robotics, Position control, Jacobian matrices
Journal Articles

Motion Planning for Nonprehensile Object Manipulation Using Novel 5-Bar Linkage

Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044508.
Paper No: JMR-24-1438
https://doi.org/10.1115/1.4066905
Published Online: November 18, 2024
View Article titled, Motion Planning for Nonprehensile Object Manipulation Using Novel 5-Bar Linkage
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Topics: Kinematics, Robots, Path planning, Trajectories (Physics), Linkages
Journal Articles

Synthesis and Analysis of Stephenson III Six-Bar Motion Generators With an Instantaneous Stop Link

Giorgio Figliolini, Chiara Lanni, Luciano Tomassi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044510.
Paper No: JMR-24-1446
https://doi.org/10.1115/1.4066903
Published Online: November 18, 2024
View Article titled, Synthesis and Analysis of Stephenson III Six-Bar Motion Generators With an Instantaneous Stop Link
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Topics: Generators, Kinematics, Design
Journal Articles

Fourth-Order Accurate Strain-Parameterized Shape Representation of Beam Elements for Modeling Continuum Robots and Robotic Manipulation of Slender Objects

Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044509.
Paper No: JMR-24-1439
https://doi.org/10.1115/1.4066904
Published Online: November 18, 2024
View Article titled, Fourth-Order Accurate Strain-Parameterized Shape Representation of Beam Elements for Modeling Continuum Robots and Robotic Manipulation of Slender Objects
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Topics: Approximation, Deformation, Displacement, Interpolation, Kinematics, Robots, Shapes, Stress, Robotics, Modeling
Journal Articles

Optimal Curve Fitting for Serial Chain in Six-Crease Origami Unit

Wei-Min Chen, Biing-Chwen Chang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044503.
Paper No: JMR-24-1447
https://doi.org/10.1115/1.4066849
Published Online: November 6, 2024
View Article titled, Optimal Curve Fitting for Serial Chain in Six-Crease Origami Unit
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Topics: Curve fitting, Kinematics, Optimization