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Journal Articles

Instant Grasping Framework of Textured Objects Via Precise Point Matches and Normalized Target Poses

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Yazhe Luo, Sipu Ruan, Yifei Li, Jiting Li, Diansheng Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081013.
Paper No: JMR-24-1628
https://doi.org/10.1115/1.4068273
Published Online: April 17, 2025
View Articletitled, Instant Grasping Framework of Textured Objects Via Precise Point Matches and Normalized Target Poses
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Topics: Grasping, Texture (Materials), Errors, Algorithms
Journal Articles

Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

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Milad Azizkhani, Junhyoung Ha, Anthony L. Gunderman, Yue Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071013.
Paper No: JMR-24-1405
https://doi.org/10.1115/1.4067753
Published Online: February 28, 2025
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
Journal Articles

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

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Hafez Tari
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071008.
Paper No: JMR-24-1607
https://doi.org/10.1115/1.4067752
Published Online: February 27, 2025
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
Journal Articles

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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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 Articletitled, Point-Based Models: A Unified Approach for Geometric Constraint Analysis of Planar n -Bar Mechanisms With Rotary, Sliding, and Rolling Joints
Open the PDF for Point-Based Models: A Unified Approach for Geometric Constraint Analysis of Planar n -Bar Mechanisms With Rotary, Sliding, and Rolling Joints in another window
Topics: Actuators, Constraint equations, Kinematics, Simulation, Wheels, Belts, Mechanical admittance, Stiffness, Algorithms
Journal Articles

Path Generative Model Based on Conditional β -Variational Auto Encoder for Four-Bar Mechanism Design

Available to Purchase
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 Articletitled, 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

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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 Articletitled, 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

Kinematic Analysis and Trajectory Planning of Multi-Segment Continuum Manipulator

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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 Articletitled, Kinematic Analysis and Trajectory Planning of Multi-Segment Continuum Manipulator
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Topics: Kinematics, Manipulators, Trajectories (Physics), Simulation, Actuators, Algorithms
Journal Articles

Topology Optimization of Compliant Grippers Based on Stress Constraints

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

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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 Articletitled, 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

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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 Articletitled, 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

Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

Open Access
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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
Open the PDF for A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator in another window
Topics: Cables, Haptics, Manipulators, Pulleys, Surgery, Algorithms, Errors