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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

Kinematic analysis and trajectory planning of multi-segment continuum manipulator

Accepted Manuscript
Zhengfeng Bai, Yuxin Niu, Qingfeng Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1119
https://doi.org/10.1115/1.4067229
Published Online: November 21, 2024
View Article titled, Kinematic analysis and trajectory planning of multi-segment continuum manipulator
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Topics: Kinematic analysis, Manipulators, Trajectories (Physics), Kinematics, Algorithms, Actuators, Computer simulation, Modeling, Particle swarm optimization, Shapes
Journal Articles

Path Generative Model based on Conditional β - Variational Auto Encoder for Four-bar Mechanism Design

Accepted Manuscript
Anar Nurizada, Zhijie Lyu, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1110
https://doi.org/10.1115/1.4067169
Published Online: November 14, 2024
View Article titled, Path Generative Model based on Conditional β - Variational Auto Encoder for Four-bar Mechanism Design
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Topics: Algorithms, Artificial intelligence, Design, Encryption, Kinematics, Machine learning, Performance
Journal Articles

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

Accepted Manuscript
Brian D. Jensen, Jared C. Erickson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1272
https://doi.org/10.1115/1.4067170
Published Online: November 14, 2024
View Article titled, Full Forward Solution of Large Deflection, End Loaded Cantilever Beams using Elliptic Integrals
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Topics: Cantilever beams, Compliant mechanisms, Deflection, Algorithms, Design, Finite element analysis, Metamaterials, Modeling, Robots, Rotation
Journal Articles

Modeling and Analysis of Inter-Panel Slipping for the Design of Rolled Gossamer Arrays

Nathan Coleman, Jacob Sutton, Ivy Running, Spencer Magleby, Larry L. Howell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044505.
Paper No: JMR-24-1460
https://doi.org/10.1115/1.4066901
Published Online: November 6, 2024
View Article titled, Modeling and Analysis of Inter-Panel Slipping for the Design of Rolled Gossamer Arrays
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Topics: Design, Displacement, Hinges, Modeling, Satellites, Membranes, Compliant mechanisms, Algorithms
Journal Articles

A Combined Strategy for Path Planning of Tensegrity Manipulators Considering Structural Stability

Tianxiao Mao, Hua Deng, Hongchuang Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051005.
Paper No: JMR-24-1316
https://doi.org/10.1115/1.4066853
Published Online: November 1, 2024
View Article titled, A Combined Strategy for Path Planning of Tensegrity Manipulators Considering Structural Stability
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Topics: Kinematics, Manipulators, Path planning, Structural stability, Tensegrity, Cables, Algorithms, Elongation
Includes: Supplementary data
Journal Articles

Point-based Models: A Unified Approach for Geometric Constraint Analysis of Planar N-Bar Mechanisms with Rotary, Sliding, and Rolling Joints

Accepted Manuscript
Zhijie Lyu, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics.
Paper No: JMR-24-1500
https://doi.org/10.1115/1.4066963
Published Online: October 21, 2024
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: Algorithms, Belts, Chain, Computer software, Constraint equations, Gears, Kinematics, Simulation, Stiffness, Wheels
Journal Articles

Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators

Zhiguang Xing, Guoguo Yang, Pengyuan Wang, Zheng Zheng, Jianwen Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031010.
Paper No: JMR-23-1702
https://doi.org/10.1115/1.4066098
Published Online: September 20, 2024
View Article titled, Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators
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Topics: Kinematics, Manipulators, Algorithms, Robots
Journal Articles

FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning

Suraj Borate, Rwik Rana, Praveen Venkatesh, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104502.
Paper No: JMR-23-1444
https://doi.org/10.1115/1.4066129
Published Online: September 2, 2024
View Article titled, FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning
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Topics: Algorithms, Collisions (Physics), Multi-robot systems, Path planning, Robots
Journal Articles

A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots

Jianyu Yang, Xuanting Li, Zhongqi Sheng, Xiaofeng Ma, Hui Shi, Hualong Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021009.
Paper No: JMR-23-1618
https://doi.org/10.1115/1.4066000
Published Online: August 8, 2024
View Article titled, A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots
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Topics: Algorithms, Errors, Robots, Simulation, Kinematics, End effectors, Trajectories (Physics)
Journal Articles

Architecture Singularity Distance Computations for Linear Pentapods

Aditya Kapilavai, Georg Nawratil
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021008.
Paper No: JMR-24-1034
https://doi.org/10.1115/1.4065789
Published Online: July 23, 2024
View Article titled, Architecture Singularity Distance Computations for Linear Pentapods
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Topics: Design, Optimization, Computation, Manipulators, Robots, Algorithms
Journal Articles

Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots

Felix Trautwein, David Dietrich, Andreas Pott, Alexander Verl
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010908.
Paper No: JMR-23-1708
https://doi.org/10.1115/1.4065642
Published Online: June 17, 2024
View Article titled, Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots
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Topics: Cables, Robots, Stability, Topology, Kinematics, Modeling, Algorithms
Journal Articles

Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics

Ryan J. Caverly, Sze Kwan Cheah, Keegan R. Bunker, Samir Patel, Niko Sexton, Vinh L. Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010904.
Paper No: JMR-23-1714
https://doi.org/10.1115/1.4065236
Published Online: June 7, 2024
View Article titled, Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics
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Topics: Algorithms, Cables, Calibration, Errors, Kinematics, Simulation, Robots, End effectors
Journal Articles

Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111002.
Paper No: JMR-23-1677
https://doi.org/10.1115/1.4065071
Published Online: March 29, 2024
View Article titled, Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators
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Topics: Algorithms, Kinematics, Robots, Monte Carlo methods, End effectors
Journal Articles

Design and Kinematics of a Novel Continuum Robot Connected by Unique Offset Cross Revolute Joints

Xuhao Wang, Chengfa Wang, Mengli Wu, Mingyu Li, Yilong Xu, Guanhao Li, Zhiyong Guo, Yiran Cao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121003.
Paper No: JMR-23-1297
https://doi.org/10.1115/1.4065084
Published Online: March 29, 2024
View Article titled, Design and Kinematics of a Novel Continuum Robot Connected by Unique Offset Cross Revolute Joints
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Topics: Kinematics, Robots, Cables, Algorithms, Simulation, Stiffness
Journal Articles

Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger

Runming Zhang, Xuechao Chen, Yu Zhang, Zhangguo Yu, Qiang Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124501.
Paper No: JMR-23-1321
https://doi.org/10.1115/1.4065024
Published Online: March 29, 2024
View Article titled, Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger
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Topics: Algorithms, Control equipment, Cycles, Feedback, Humanoid robots, Modeling, Robots, Center of mass, Robot motion
Journal Articles

A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator

Zhengyu Wang, Xiang Yu, Mingxin Hai, Sen Qian, Daoming Wang, Ziqian Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101006.
Paper No: JMR-23-1111
https://doi.org/10.1115/1.4064568
Published Online: February 27, 2024
View Article titled, A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
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Topics: Cables, Haptics, Manipulators, Pulleys, Surgery, Algorithms, Errors
Journal Articles

Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation

Ravinder Kumar, T. A. Dwarakanath, Gaurav Bhutani, S. K. Sinha
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101005.
Paper No: JMR-23-1445
https://doi.org/10.1115/1.4064485
Published Online: February 5, 2024
View Article titled, Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation
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Topics: Algorithms, Computation, Kinematics, Trajectories (Physics), Robots, Manipulators
Journal Articles

Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems

Seth Donahue, Trevor Kingsbury, Kota Takahashi, Matthew J. Major
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081012.
Paper No: JMR-22-1646
https://doi.org/10.1115/1.4064279
Published Online: January 11, 2024
View Article titled, Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems
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Topics: Algorithms, Artificial limbs, Displacement, Prostheses, Modeling, Nonlinear dynamics, Dynamics (Mechanics)
Journal Articles

Motion Performance Study of 2UPR-1RPS/2R Hybrid Robot Based on Kinematics, Dynamics, and Stiffness Modeling

Jing Li, NingHe Lu, NanYan Shen, ZeHui Ma, ZiQi Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061009.
Paper No: JMR-23-1232
https://doi.org/10.1115/1.4063169
Published Online: October 4, 2023
View Article titled, Motion Performance Study of 2UPR-1RPS/2R Hybrid Robot Based on Kinematics, Dynamics, and Stiffness Modeling
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Topics: Dynamics (Mechanics), Kinematics, Robots, Stiffness, Modeling, Algorithms