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Journal Articles

A micro-deformation model of parallel manipulators in the gravity field

Accepted Manuscript
Chao Yang, Wenyong Yu, Fei Quan, Wei Ye, Yebo Lu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1330
https://doi.org/10.1115/1.4067720
Published Online: January 23, 2025
View Article titled, A micro-deformation model of parallel manipulators in the gravity field
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Topics: Deformation, Gravity (Force), Manipulators, Screws, Robots, Actuators, Calibration, Cutting, End effectors, Errors
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

Cable Force Distribution and Motion Control for a Cable-Driven Super-Redundant Robot Under Stiffness Constraints

Guiben Tuo, Yongqing Wang, Te Li, Zhenye Shang, Xu Li, Haibo Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061012.
Paper No: JMR-24-1371
https://doi.org/10.1115/1.4067346
Published Online: January 20, 2025
View Article titled, Cable Force Distribution and Motion Control for a Cable-Driven Super-Redundant Robot Under Stiffness Constraints
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Topics: Cables, Robots, Stiffness, Motion control, Tension, Optimization
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

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

A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators

Accepted Manuscript
Matteo Verotti, Marco Morandini, Pierangelo Masarati
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1543
https://doi.org/10.1115/1.4067626
Published Online: January 10, 2025
View Article titled, A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators
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Topics: Manipulators, Stiffness, End effectors, Control equipment, Displacement, Engineering simulation, Friction, Robots, Rotation, Simulation
Journal Articles

Origami-Inspired Collapsible Structures for Small Rotorcraft Collision Resilience and Landing

Andrew L. Chang, Ivonne Munoz, Christopher Sanchez, Leopoldo Sanchez IV, Christopher L. Lee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044506.
Paper No: JMR-24-1434
https://doi.org/10.1115/1.4066925
Published Online: November 6, 2024
View Article titled, Origami-Inspired Collapsible Structures for Small Rotorcraft Collision Resilience and Landing
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Topics: Collisions (Physics), Gears, Kinetic energy, Origami-inspired design, Resilience, Rotorcraft, Stiffness, Testing, Flight, Design
Journal Articles

Designing Multi-axis Compliant Mechanisms With Lockable Decoupled Inputs: A Tip–Tilt Case Study

Greta Vazzoler, Sam Shimohara, Giovanni Berselli, Jonathan B. Hopkins
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044507.
Paper No: JMR-24-1463
https://doi.org/10.1115/1.4066982
Published Online: November 6, 2024
View Article titled, Designing Multi-axis Compliant Mechanisms With Lockable Decoupled Inputs: A Tip–Tilt Case Study
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Topics: Rotation, Stiffness, Switches, Compliant mechanisms, Design, Bistability
Journal Articles

The Interior Contact-Aided Rolling Element

Daniel Orr, Anna Jensen, Tyler Peterson, Brianna Bischoff, Luke Taylor, Daira Velasco, David Fullwood, Larry L. Howell, Anton E. Bowden
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044501.
Paper No: JMR-24-1452
https://doi.org/10.1115/1.4066851
Published Online: November 1, 2024
View Article titled, The Interior Contact-Aided Rolling Element
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Topics: Bending (Stress), Compliant mechanisms, Compression, Design, Finite element analysis, Rotation, Stiffness, Stress, Testing, Mechanical testing
Journal Articles

Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints

Accepted Manuscript
Jiahui Luo, Longqing Ge, Xiaoming Xu, Xiaodong Liu, Ziwei Zhuang, Lulu Han, ZhiGang Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1150
https://doi.org/10.1115/1.4066745
Published Online: September 30, 2024
View Article titled, Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints
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Topics: Kinematics, Stability, Stiffness, Tensegrity, Cables, Computer programming, Modeling, Stress, Tension
Journal Articles

Investigation on a Class of 2D Profile Amplified Stroke Dielectric Elastomer Actuators

Xi Wang, Luca Raimondi, Dragos Axinte, Xin Dong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031008.
Paper No: JMR-23-1609
https://doi.org/10.1115/1.4066131
Published Online: September 24, 2024
View Article titled, Investigation on a Class of 2D Profile Amplified Stroke Dielectric Elastomer Actuators
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Topics: Dielectric elastomer actuators, Stiffness
Journal Articles

Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance

Sen Xu, Kai Tang, Lingmin Xu, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031003.
Paper No: JMR-24-1141
https://doi.org/10.1115/1.4066136
Published Online: September 3, 2024
View Article titled, Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
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Topics: Calibration, Design, Exoskeleton devices, Modeling, Rods, Stiffness, Torque, Parallel mechanisms, Errors
Journal Articles

Passive Realization of Object Spatial Compliance by a Hand Having Multiple Four-Joint Hard Fingers

Shuguang Huang, Joseph M. Schimmels
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031004.
Paper No: JMR-24-1072
https://doi.org/10.1115/1.4066168
Published Online: September 3, 2024
View Article titled, Passive Realization of Object Spatial Compliance by a Hand Having Multiple Four-Joint Hard Fingers
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Topics: Stiffness
Journal Articles

The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains

Vaughn Chambers, Bradley Hobbs, William Gaither, Zachary Thé, Anthony Zhou, Chrysostomos Karakasis, Panagiotis Artemiadis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031005.
Paper No: JMR-23-1825
https://doi.org/10.1115/1.4066173
Published Online: September 3, 2024
View Article titled, The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains
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Topics: Stiffness, Deflection, Belts, Design
Journal Articles

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Jason Gurney
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031006.
Paper No: JMR-24-1040
https://doi.org/10.1115/1.4066185
Published Online: September 3, 2024
View Article titled, Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion
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Topics: Control equipment, Knee, Legged locomotion, Simulation, Stiffness, Torque, Springs, Robotics, Stability
Journal Articles

Special Issue: Mechanisms, Transmissions, and Applications

Med Amine Laribi, Carl A. Nelson, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics. September 2024, 16(9): 090201.
Paper No: JMR-24-1388
https://doi.org/10.1115/1.4066077
Published Online: August 7, 2024
View Article titled, Special Issue: Mechanisms, Transmissions, and Applications
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Topics: Design, Machinery, Robotics, Robots, Satellites, Screws, Sensitivity analysis, Stiffness
Journal Articles

DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation

Alberto Parmiggiani, Emilio Ottonello, Seyyed Masoud Kargar, Mario Baggetta, Guangbo Hao, Giovanni Berselli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111011.
Paper No: JMR-23-1682
https://doi.org/10.1115/1.4065780
Published Online: July 22, 2024
View Article titled, DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation
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Topics: Additive manufacturing, Design, Robots, Stiffness, Errors, Stress, End effectors, Simulation
Journal Articles

Modeling Abduction Mechanism of Soft Actuator With Elastica for Robotic Hands

Sheng-Guan Lin, Jen-Yuan (James) Chang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021003.
Paper No: JMR-24-1055
https://doi.org/10.1115/1.4065750
Published Online: July 19, 2024
View Article titled, Modeling Abduction Mechanism of Soft Actuator With Elastica for Robotic Hands
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Topics: Actuators, Membranes, Springs, Deformation, Robotics, Stiffness, Modeling
Journal Articles

Design of High-Performance Triple-Axis Cross Pivots

Simone Serafino, Luca Bruzzone, Pietro Fanghella, Matteo Verotti
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021004.
Paper No: JMR-24-1145
https://doi.org/10.1115/1.4065749
Published Online: July 19, 2024
View Article titled, Design of High-Performance Triple-Axis Cross Pivots
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Topics: Design, Finite element analysis, Stiffness, Stress, Bending (Stress), Rotation