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Volume 17, Issue 7

July 2025

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ISSN 1942-4302

EISSN 1942-4310

In this Issue

Research Papers
Technical Briefs
Design Innovation Papers

Research Papers

Active Cables Selection for Collocated Vibration Control of Small-Sized Overconstrained Cable-Driven Parallel Robots

Thibault Garcia, Didier Rémond, Simon Chesné

J. Mechanisms Robotics. July 2025, 17(7): 071001. doi: https://doi.org/10.1115/1.4067622

Abstract

View articletitled, Active Cables Selection for Collocated Vibration Control of Small-Sized Overconstrained Cable-Driven Parallel Robots

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Topics: Cables

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

Jiahui Luo, Longqing Ge, Xiaoming Xu, Xiaodong Liu, Ziwei Zhuang, Lulu Han, Zhigang Wu

J. Mechanisms Robotics. July 2025, 17(7): 071002. doi: https://doi.org/10.1115/1.4066745

Abstract

View articletitled, Stability Conditions and Stiffness Variability of General Tensegrity Systems With Kinematic Joints

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Topics: Stability , Stiffness , Tensegrity , Kinematics

A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators

Matteo Verotti, Marco Morandini, Pierangelo Masarati

J. Mechanisms Robotics. July 2025, 17(7): 071003. doi: https://doi.org/10.1115/1.4067626

Abstract

View articletitled, A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators

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Topics: End effectors , Manipulators , Stiffness , Displacement , Rotation , Friction

Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators

Tong Liu, Xiaojie Wang

J. Mechanisms Robotics. July 2025, 17(7): 071004. doi: https://doi.org/10.1115/1.4067722

Abstract

View articletitled, Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators

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Topics: Actuators , Buckling , Deformation , Design , Shapes , Simulation , Design methodology

Exact Solutions of the Mixed Motion and Path Synthesis Problem for Four-Bar Linkages

Rui Wu, Wenming Yang, Shaoping Bai

J. Mechanisms Robotics. July 2025, 17(7): 071005. doi: https://doi.org/10.1115/1.4067751

Abstract

View articletitled, Exact Solutions of the Mixed Motion and Path Synthesis Problem for Four-Bar Linkages

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Topics: Errors , Linkages , Design

Uniform Stretch Behavior of Creased Units

Qian Zhang, Marco Meloni, Jian Feng, Jianguo Cai

J. Mechanisms Robotics. July 2025, 17(7): 071006. doi: https://doi.org/10.1115/1.4067623

Abstracts

View articletitled, Uniform Stretch Behavior of Creased Units

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Topics: Deformation , Stiffness , Tension , Shapes , Geometry , Stress , Rotation , Design

A Micro-Deformation Model of Parallel Manipulators in the Gravity Field

Chao Yang, Wenyong Yu, Fei Quan, Wei Ye, Yebo Lu

J. Mechanisms Robotics. July 2025, 17(7): 071007. doi: https://doi.org/10.1115/1.4067720

Abstract

View articletitled, A Micro-Deformation Model of Parallel Manipulators in the Gravity Field

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Topics: Deformation , Gravity (Force) , Manipulators , Screws

A Robust Algorithm for Solving Heterogeneous Systems of Equations Arising in Kinetostatics of Compliant Mechanisms

Hafez Tari

J. Mechanisms Robotics. July 2025, 17(7): 071008. doi: https://doi.org/10.1115/1.4067752

Abstract

View articletitled, A Robust Algorithm for Solving Heterogeneous Systems of Equations Arising in Kinetostatics of Compliant Mechanisms

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Topics: Algorithms , Compliant mechanisms , Newton's method , Kinematics , Errors

Error Propagation Analysis of Kinematic Quantities for Robots and Mechanisms

K. B. Cantún-Avila, R. Peón-Escalante, J. A. Montoya, F. Peñuñuri

J. Mechanisms Robotics. July 2025, 17(7): 071009. doi: https://doi.org/10.1115/1.4067875

Abstract

View articletitled, Error Propagation Analysis of Kinematic Quantities for Robots and Mechanisms

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Topics: Errors , Kinematics

Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator

Kendall Koe, Samhita Marri, Benjamin Walt, Shivani Kamtikar, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary

J. Mechanisms Robotics. July 2025, 17(7): 071010. doi: https://doi.org/10.1115/1.4067872

Abstract

View articletitled, Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator

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Topics: Control equipment , Dynamics (Mechanics) , End effectors , Errors , Manipulators , Stress , Trajectories (Physics) , Optimization , Robotics , Architecture

Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons

Yu Wang, Jian Li, Peng Liang, Riwei Ye

J. Mechanisms Robotics. July 2025, 17(7): 071011. doi: https://doi.org/10.1115/1.4067874

Abstract

View articletitled, Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons

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Topics: Cables , Exoskeleton devices , Knee , Dynamics (Mechanics) , Cycles , Stiffness , Displacement

Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots

Liu Peng, Xuechao Duan, Xinzhou Qiao

J. Mechanisms Robotics. July 2025, 17(7): 071012. doi: https://doi.org/10.1115/1.4067923

Abstract

View articletitled, Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots

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Topics: Cables , Robots , Stability , End effectors

Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

Milad Azizkhani, Junhyoung Ha, Anthony L. Gunderman, Yue Chen

J. Mechanisms Robotics. July 2025, 17(7): 071013. doi: https://doi.org/10.1115/1.4067753

Abstract

View articletitled, Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

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Topics: Algorithms , Kinematics , Redundancy (Engineering) , Resolution (Optics) , Soft robots , Robots , Robotics , Simulation , Errors

Technical Briefs

A Systematic Procedure of Transfer Matrix Method to Analyze Compliant Mechanisms With Irregularly Connected Building Blocks

Shilei Wu, Mingxiang Ling, Zhujin Jiang

J. Mechanisms Robotics. July 2025, 17(7): 074501. doi: https://doi.org/10.1115/1.4067721

Abstract

View articletitled, A Systematic Procedure of Transfer Matrix Method to Analyze Compliant Mechanisms With Irregularly Connected Building Blocks

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Topics: Bending (Stress) , Blocks (Building materials) , Compliant mechanisms , Modeling , Hinges , Errors , Design

Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace

Jilong Xu, Fucai Liu

J. Mechanisms Robotics. July 2025, 17(7): 074502. doi: https://doi.org/10.1115/1.4067682

Abstract

View articletitled, Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace

Supplementary data

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Topics: Exoskeleton devices , Screws

Design Innovation Papers

On the Climbing Ability of Passively Suspended Tracked Robots

Giulio Reina, Giacomo Mantriota

J. Mechanisms Robotics. July 2025, 17(7): 075001. doi: https://doi.org/10.1115/1.4067624

Abstracts

View articletitled, On the Climbing Ability of Passively Suspended Tracked Robots

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Topics: Robots , Wheels , Negotiation

Necessary and Sufficient Design Conditions for Overconstrained Cam Mechanisms With Flat-Faced and Roller Follower

Yen-Nien Chen, Kuan-Lun Hsu

J. Mechanisms Robotics. July 2025, 17(7): 075002. doi: https://doi.org/10.1115/1.4067993

Abstract

View articletitled, Necessary and Sufficient Design Conditions for Overconstrained Cam Mechanisms With Flat-Faced and Roller Follower

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Topics: Design , Oscillations , Rollers , Displacement , Rotation , Mechanical admittance

Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance

Sipeng Zhou, Zihan Pu, Shaoke Yuan, Yanqiong Fei

J. Mechanisms Robotics. July 2025, 17(7): 075003. doi: https://doi.org/10.1115/1.4068019

Abstract

View articletitled, Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance

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Topics: Actuators , Airbags , Design , Kinematics , Muscle , Pneumatic actuators , Pressure , Robots , Rotation , Soft robots

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Research Papers

Active Cables Selection for Collocated Vibration Control of Small-Sized Overconstrained Cable-Driven Parallel Robots

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

A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators

Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators

Exact Solutions of the Mixed Motion and Path Synthesis Problem for Four-Bar Linkages

Uniform Stretch Behavior of Creased Units

A Micro-Deformation Model of Parallel Manipulators in the Gravity Field

A Robust Algorithm for Solving Heterogeneous Systems of Equations Arising in Kinetostatics of Compliant Mechanisms

Error Propagation Analysis of Kinematic Quantities for Robots and Mechanisms

Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator

Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons

Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots

Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

Technical Briefs

A Systematic Procedure of Transfer Matrix Method to Analyze Compliant Mechanisms With Irregularly Connected Building Blocks

Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace

Design Innovation Papers

On the Climbing Ability of Passively Suspended Tracked Robots

Necessary and Sufficient Design Conditions for Overconstrained Cam Mechanisms With Flat-Faced and Roller Follower

Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance

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