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Journal Articles

Design of Rolling Motion for Snake-Like Robots Using Center-of-Gravity Shift

Akio Yamano, Tsuyoshi Kimoto, Masakatsu Chiba
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061011.
Paper No: JMR-24-1225
https://doi.org/10.1115/1.4067307
Published Online: January 20, 2025
View Article titled, Design of Rolling Motion for Snake-Like Robots Using Center-of-Gravity Shift
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Topics: Design, Robots, Servomotors, Optimization, Time series, Energy consumption, Center of mass, Pareto optimization
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

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

Design and Analysis of a Mobile Robot With Transformable Wheel-Legged Mechanism

Haibo Li, Zijian Xie, Yu Cao, Rong Zhang, Jianjun Qin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061015.
Paper No: JMR-24-1372
https://doi.org/10.1115/1.4067482
Published Online: January 20, 2025
View Article titled, Design and Analysis of a Mobile Robot With Transformable Wheel-Legged Mechanism
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Topics: Robots, Wheels, Deformation, Design, Mobile robots
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

A Novel Delta-Like Parallel Robot With Three Translations and Two Pitch Rotations for Peg-in-Hole Assembly

Peng Cheng, Wen-ao Cao, Degang Liu, Jun Cui, Jingpei Lai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021014.
Paper No: JMR-24-1241
https://doi.org/10.1115/1.4067306
Published Online: December 19, 2024
View Article titled, A Novel Delta-Like Parallel Robot With Three Translations and Two Pitch Rotations for Peg-in-Hole Assembly
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Topics: Robots, Manufacturing
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

Full Forward Solution of Large Deflection, End Loaded Cantilever Beams Using Elliptic Integrals

Brian D. Jensen, Jared Erickson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061005.
Paper No: JMR-24-1272
https://doi.org/10.1115/1.4067170
Published Online: December 12, 2024
View Article titled, Full Forward Solution of Large Deflection, End Loaded Cantilever Beams Using Elliptic Integrals
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Topics: Deflection, Stress, Algorithms, Shapes, Compliant mechanisms, Design
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

Design of an Underactuated, Flexure-Based Gripper, Actuated Through a Push–Pull Flexure

Koen Dwarshuis, Jan de Jong, Dannis Brouwer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061009.
Paper No: JMR-24-1252
https://doi.org/10.1115/1.4067265
Published Online: December 12, 2024
View Article titled, Design of an Underactuated, Flexure-Based Gripper, Actuated Through a Push–Pull Flexure
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Topics: Bending (Stress), Design, Grippers, Hinges
Includes: Supplementary data
Journal Articles

Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation

Lihong Zhu, Can Cui, Dong Zhang, Jiamin Tan, Changxing Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061010.
Paper No: JMR-23-1792
https://doi.org/10.1115/1.4067305
Published Online: December 12, 2024
View Article titled, Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation
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Topics: Cables, Exoskeleton devices, Pulleys, Design
Journal Articles

Topology Optimization of Compliant Grippers Based on Stress Constraints

Yunsong Du, Pengwei Zhang, Tiemin Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061001.
Paper No: JMR-24-1251
https://doi.org/10.1115/1.4067021
Published Online: November 22, 2024
View Article titled, Topology Optimization of Compliant Grippers Based on Stress Constraints
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Topics: Design, Grippers, Stress, Topology optimization, Finite element analysis, Displacement, Gradient methods, Algorithms
Journal Articles

Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input

Junho Hong, Daehie Hong, Chanwoo Kim, Seong Hyeon Won
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051009.
Paper No: JMR-24-1154
https://doi.org/10.1115/1.4067020
Published Online: November 22, 2024
View Article titled, Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input
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Topics: Feedforward control, Modeling, Shapes, Tendons, Calibration, Deformation, Degrees of freedom
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

Chained Spatial Beam Adomian Decomposition Model: A Novel Model of Flexible Slender Beams for Large Spatial Deflections

Yuhan Chen, Guimin Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051010.
Paper No: JMR-24-1380
https://doi.org/10.1115/1.4067023
Published Online: November 22, 2024
View Article titled, Chained Spatial Beam Adomian Decomposition Model: A Novel Model of Flexible Slender Beams for Large Spatial Deflections
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Topics: Deflection, Stress, Differential equations, Simulation, Displacement, Robots
Journal Articles

Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter

Eeshan Kulkarni, Suresh Sundaram
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061003.
Paper No: JMR-24-1239
https://doi.org/10.1115/1.4067068
Published Online: November 22, 2024
View Article titled, Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter
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Topics: Control equipment, Design, Dynamics (Mechanics), Flight, Mechanical drives, Motors, Propellers, Servomotors, Weight (Mass), Torque
Journal Articles

Design and Motion Planning of a Cable Robot Utilizing Cable Slackness

Nan Zhang, Long Teng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051008.
Paper No: JMR-23-1763
https://doi.org/10.1115/1.4066551
Published Online: November 18, 2024
View Article titled, Design and Motion Planning of a Cable Robot Utilizing Cable Slackness
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Topics: Cables, Path planning, Robots, Design