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Journal Articles

A Conformal Geometric Algebra Method for Inverse Kinematics Analysis of 6R Robotic Arm

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Dongyang Zhu, Zhonghai Zhang, Duanling Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091007.
Paper No: JMR-24-1663
https://doi.org/10.1115/1.4068432
Published Online: May 7, 2025
View Articletitled, A Conformal Geometric Algebra Method for Inverse Kinematics Analysis of 6R Robotic Arm
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Topics: Algebra, Kinematics, Robotics
Journal Articles

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

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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 Articletitled, Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra
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Topics: Algebra, Blades, Kinematics, Screws, Polynomials
Journal Articles

One-Step Solving the Hand–Eye Calibration by Dual Kronecker Product

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Xiao Wang, Hanwen Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101008.
Paper No: JMR-23-1381
https://doi.org/10.1115/1.4064576
Published Online: February 27, 2024
View Articletitled, One-Step Solving the Hand–Eye Calibration by Dual Kronecker Product
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Topics: Calibration, Screws, Tensors, Rotation, Algebra
Journal Articles

Conformal Geometric Algebra–Based Geometric Modeling Method for Forward Displacement Analysis of 6-4 Stewart Platforms

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Ganmin Zhu, Shimin Wei, Duanling Li, Yingli Wang, Qizheng Liao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071009.
Paper No: JMR-23-1359
https://doi.org/10.1115/1.4063501
Published Online: October 20, 2023
View Articletitled, Conformal Geometric Algebra–Based Geometric Modeling Method for Forward Displacement Analysis of 6-4 Stewart Platforms
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Topics: Algebra, Displacement, Geometric modeling, Constraint equations
Journal Articles

Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

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Frederico Fernandes Afonso Silva, Juan José Quiroz-Omaña, Bruno Vilhena Adorno
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061005.
Paper No: JMR-21-1398
https://doi.org/10.1115/1.4054320
Published Online: September 14, 2022
View Articletitled, Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
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Topics: Algebra, Algorithms, Manipulators, Robots, Robotics, Simulation, Dynamics (Mechanics)
Journal Articles

Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions

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Shaoping Bai, Zhongyi Li, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021011.
Paper No: JMR-21-1203
https://doi.org/10.1115/1.4052336
Published Online: October 13, 2021
View Articletitled, Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions
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Topics: Linkages, Algebra
Journal Articles

Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions

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Kai Liu, Jingjun Yu, Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021009.
Paper No: JMR-21-1166
https://doi.org/10.1115/1.4052338
Published Online: September 21, 2021
View Articletitled, Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions
Open the PDF for Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions in another window
Topics: Algebra, Polynomials, Chain, Kinematics
Journal Articles

Actuation and Motion Control of Flexible Robots: Small Deformation Problem

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Ahmed A. Shabana, Zhengfeng Bai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011002.
Paper No: JMR-20-1603
https://doi.org/10.1115/1.4051438
Published Online: July 5, 2021
View Articletitled, Actuation and Motion Control of Flexible Robots: Small Deformation Problem
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Topics: Deformation, Dynamics (Mechanics), Robots, Algebra, Motion control, Degrees of freedom, Piezoelectric actuators, Trajectories (Physics)
Journal Articles

Direct Kinematic Analysis of the Spatial Parallel Mechanism With 3-R(P)S Structure Based on the Point Pair Relationship

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Ganmin Zhu, Shimin Wei, Ying Zhang, Qizheng Liao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061011.
Paper No: JMR-20-1479
https://doi.org/10.1115/1.4050930
Published Online: June 4, 2021
View Articletitled, Direct Kinematic Analysis of the Spatial Parallel Mechanism With 3-R(P)S Structure Based on the Point Pair Relationship
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Topics: Algebra, Geometric modeling, Kinematic analysis, Kinematic chains, Kinematics, Parallel mechanisms, Polynomials, Reactor protection systems
Journal Articles

Direct Position Analysis of a Particular Translational 3-URU Manipulator

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Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061007.
Paper No: JMR-20-1563
https://doi.org/10.1115/1.4050764
Published Online: June 3, 2021
View Articletitled, Direct Position Analysis of a Particular Translational 3-URU Manipulator
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Topics: Algorithms, Manipulators, Engines, Motors, Algebra, Actuators, Kinematics
Journal Articles

Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

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Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031007.
Paper No: JMR-20-1443
https://doi.org/10.1115/1.4050152
Published Online: March 12, 2021
View Articletitled, Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints
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Topics: Construction, Degrees of freedom, Kinematics, Mechanical admittance, Switches, Trajectories (Physics), Algebra, Circuits, Cables, Gears
Journal Articles

The Kinematics of Containment for N -Dimensional Ellipsoids

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Sipu Ruan, Jianzhong Ding, Qianli Ma, Gregory S. Chirikjian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041005.
Paper No: JMR-18-1404
https://doi.org/10.1115/1.4043458
Published Online: May 17, 2019
View Articletitled, The Kinematics of Containment for N -Dimensional Ellipsoids
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Topics: Algebra, Containment, Kinematics
Journal Articles

Analytical Elastostatic Stiffness Modeling of Overconstrained Parallel Manipulators Using Geometric Algebra and Strain Energy

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Qinchuan Li, Lingmin Xu, Qiaohong Chen, Xinxue Chai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 031007.
Paper No: JMR-18-1292
https://doi.org/10.1115/1.4043046
Published Online: April 9, 2019
View Articletitled, Analytical Elastostatic Stiffness Modeling of Overconstrained Parallel Manipulators Using Geometric Algebra and Strain Energy
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Topics: Stiffness, Modeling, Algebra, Finite element analysis
Journal Articles

A Survey on the Computation of Quaternions From Rotation Matrices

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Soheil Sarabandi, Federico Thomas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 021006.
Paper No: JMR-18-1163
https://doi.org/10.1115/1.4041889
Published Online: March 1, 2019
View Articletitled, A Survey on the Computation of Quaternions From Rotation Matrices
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Topics: Rotation, Computation, Errors, Algebra
Includes: Supplementary data
Journal Articles

A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages

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Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020910.
Paper No: JMR-18-1379
https://doi.org/10.1115/1.4042545
Published Online: February 22, 2019
View Articletitled, A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages
Open the PDF for A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages in another window
Topics: Approximation, Geometry, Kinematics, Linkages, Screws, Algebra
Journal Articles

A Motion Synthesis Approach to Solving Alt-Burmester Problem by Exploiting Fourier Descriptor Relationship Between Path and Orientation Data

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Shashank Sharma, Anurag Purwar, Q. Jeffrey Ge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011016.
Paper No: JMR-18-1084
https://doi.org/10.1115/1.4042054
Published Online: December 17, 2018
View Articletitled, A Motion Synthesis Approach to Solving Alt-Burmester Problem by Exploiting Fourier Descriptor Relationship Between Path and Orientation Data
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Topics: Algorithms, Computation, Fittings, Algebra
Journal Articles

A Computational Geometric Approach for Motion Generation of Spatial Linkages With Sphere and Plane Constraints

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Xiangyun Li, Q. J. Ge, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2019, 11(1): 014504.
Paper No: JMR-18-1168
https://doi.org/10.1115/1.4041788
Published Online: December 10, 2018
View Articletitled, A Computational Geometric Approach for Motion Generation of Spatial Linkages With Sphere and Plane Constraints
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Topics: Algebra, Design, Displacement, Kinematics, Linkages, Algorithms, Fittings, End effectors
Journal Articles

A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem

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Shrinath Deshpande, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061005.
Paper No: JMR-17-1048
https://doi.org/10.1115/1.4037801
Published Online: September 18, 2017
View Articletitled, A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem
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Topics: Algebra, Errors, Fittings, Linkages, Kinematics, Error functions, Algorithms, Manifolds, Design, Dimensions
Journal Articles

Type Synthesis of Parallel Tracking Mechanism With Varied Axes by Modeling Its Finite Motions Algebraically

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Yang Qi, Tao Sun, Yimin Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2017, 9(5): 054504.
Paper No: JMR-17-1055
https://doi.org/10.1115/1.4037548
Published Online: August 21, 2017
View Articletitled, Type Synthesis of Parallel Tracking Mechanism With Varied Axes by Modeling Its Finite Motions Algebraically
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Topics: Algebra, Kinematic analysis, Manufacturing, Modeling, Rotation, Degrees of freedom, Design
Journal Articles

Reconfiguration Analysis of Multimode Single-Loop Spatial Mechanisms Using Dual Quaternions

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Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051002.
Paper No: JMR-16-1273
https://doi.org/10.1115/1.4037111
Published Online: August 4, 2017
View Articletitled, Reconfiguration Analysis of Multimode Single-Loop Spatial Mechanisms Using Dual Quaternions
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Topics: Algebra, Circuits, Geometry, Kinematics, Polynomials, Robots, Kinematic analysis, Robotics, Computers