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Journal Articles

Stiffness Evaluation of a Decoupled Cartesian Parallel Manipulator

Open Access
Abdur Rosyid, Bashar El-Khasawneh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091008.
Paper No: JMR-24-1595
https://doi.org/10.1115/1.4068465
Published Online: May 7, 2025
View Articletitled, Stiffness Evaluation of a Decoupled Cartesian Parallel Manipulator
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Topics: Deformation, End effectors, Manipulators, Stiffness, Finite element analysis
Journal Articles

Design and Control of a Piezo-Driven z - θ x - θ y Parallel Nanopositioning Stage With Two-Stage Rhombic Amplification Structure

Available to Purchase
Shengdian Zhang, Yuguo Cui, Yiling Yang, Keke Dong, Qifang Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091010.
Paper No: JMR-24-1511
https://doi.org/10.1115/1.4068477
Published Online: May 7, 2025
View Articletitled, Design and Control of a Piezo-Driven z - θ x - θ y Parallel Nanopositioning Stage With Two-Stage Rhombic Amplification Structure
Open the PDF for Design and Control of a Piezo-Driven z - θ x - θ y Parallel Nanopositioning Stage With Two-Stage Rhombic Amplification Structure in another window
Topics: Control equipment, Design, Displacement, Feedforward control, Modeling, Optimization, Finite element analysis, Dynamic response, Resolution (Optics), Errors
Journal Articles

An Undulating Kirigami Pattern With Enhanced Tear Strength

Open Access
Tom Corrigan, Di Xie, Abhishek Srivastava
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044515.
Paper No: JMR-24-1443
https://doi.org/10.1115/1.4067430
Published Online: January 20, 2025
View Articletitled, An Undulating Kirigami Pattern With Enhanced Tear Strength
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Topics: Design, Simulation, Tension, Tensile strength, Stress, Finite element analysis
Journal Articles

Topology Optimization of Compliant Grippers Based on Stress Constraints

Available to Purchase
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

The Interior Contact-Aided Rolling Element

Available to Purchase
Daniel Orr, Anna Jensen, Tyler Peterson, Brianna Bischoff, Luke Taylor, Daira Velasco, David Fullwood, Larry L. Howell, Anton E. Bowden
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044501.
Paper No: JMR-24-1452
https://doi.org/10.1115/1.4066851
Published Online: November 1, 2024
View Articletitled, The Interior Contact-Aided Rolling Element
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Topics: Bending (Stress), Compliant mechanisms, Compression, Design, Finite element analysis, Rotation, Stiffness, Stress, Testing, Mechanical testing
Journal Articles

Design of High-Performance Triple-Axis Cross Pivots

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Simone Serafino, Luca Bruzzone, Pietro Fanghella, Matteo Verotti
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021004.
Paper No: JMR-24-1145
https://doi.org/10.1115/1.4065749
Published Online: July 19, 2024
View Articletitled, Design of High-Performance Triple-Axis Cross Pivots
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Topics: Design, Finite element analysis, Stiffness, Stress, Bending (Stress), Rotation
Journal Articles

Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator

Available to Purchase
Xuyang Duan, Wei Yan, Tianyi Yan, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011004.
Paper No: JMR-24-1033
https://doi.org/10.1115/1.4065563
Published Online: June 18, 2024
View Articletitled, Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator
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Topics: Deflection, Design, End effectors, Engineering prototypes, Errors, Finite element analysis, Manipulators, Modeling, Servomotors, Trajectories (Physics)
Journal Articles

Folding Auxetic Polygonal Kirigami Tubes

Available to Purchase
Martin G. Walker
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121012.
Paper No: JMR-23-1727
https://doi.org/10.1115/1.4065372
Published Online: May 21, 2024
View Articletitled, Folding Auxetic Polygonal Kirigami Tubes
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Topics: Deformation, Kinematics, Finite element analysis, Soft robots
Journal Articles

New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer

Available to Purchase
Miguel De La Melena, Shawn Duan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091012.
Paper No: JMR-23-1689
https://doi.org/10.1115/1.4065082
Published Online: May 10, 2024
View Articletitled, New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer
Open the PDF for New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer in another window
Topics: Design, End effectors, Engineering prototypes, Equations of motion, Finite element analysis, Kinematics, Manipulators, Optimization, Testing, Degrees of freedom
Journal Articles

Analytical Modeling and Validation of New Prismatic Compliant Joints Based on Zero Poisson’s Ratio Lattice Structures

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Mauricio Arredondo-Soto, Enrique Cuan-Urquizo, Alfonso Gómez-Espinosa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111008.
Paper No: JMR-23-1597
https://doi.org/10.1115/1.4065257
Published Online: May 10, 2024
View Articletitled, Analytical Modeling and Validation of New Prismatic Compliant Joints Based on Zero Poisson’s Ratio Lattice Structures
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Topics: Compliant mechanisms, Design, Displacement, Equilibrium (Physics), Finite element analysis, Poisson ratio, Simulation, Stiffness, Theorems (Mathematics), Modeling
Journal Articles

Design and Analysis of a Symmetric Overconstrained Compliant Tilt/Tip Stage Based on a Hybrid Transmission Ratio Model

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Jian Yang, Peng Yan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071017.
Paper No: JMR-24-1007
https://doi.org/10.1115/1.4065258
Published Online: April 24, 2024
View Articletitled, Design and Analysis of a Symmetric Overconstrained Compliant Tilt/Tip Stage Based on a Hybrid Transmission Ratio Model
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Topics: Bending (Stress), Compliant mechanisms, Design, Finite element analysis, Hinges, Bridges (Structures), Rotation, Displacement
Journal Articles

An Analytical Model for Nonlinear-Elastic Compliant Mechanisms With Tension–Compression Asymmetry

Available to Purchase
Brianne Hargrove, Mary Frecker, Angela Nastevska, Jovana Jovanova
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121006.
Paper No: JMR-23-1739
https://doi.org/10.1115/1.4065025
Published Online: April 9, 2024
View Articletitled, An Analytical Model for Nonlinear-Elastic Compliant Mechanisms With Tension–Compression Asymmetry
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Topics: Cantilever beams, Compliant mechanisms, Compression, Deflection, Design, Finite element analysis, Geometry, Nickel titanium alloys, Stress, Tension
Includes: Supplementary data
Journal Articles

Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints

Available to Purchase
Siyuan Ye, Pengyuan Zhao, Shiyao Li, Fatemeh Kavousi, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091005.
Paper No: JMR-23-1456
https://doi.org/10.1115/1.4064368
Published Online: February 1, 2024
View Articletitled, Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints
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Topics: Design, Displacement, Finite element analysis, Modeling, Stress, Manufacturing, Stiffness, Additive manufacturing
Journal Articles

Design of a Novel Large-Stroke Compliant Constant-Torque Mechanism Based on Chained Beam-Constraint Model

Available to Purchase
Thanh-Vu Phan, Van Men Truong, Huy-Tuan Pham, Van-Khien Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081006.
Paper No: JMR-23-1441
https://doi.org/10.1115/1.4063980
Published Online: December 11, 2023
View Articletitled, Design of a Novel Large-Stroke Compliant Constant-Torque Mechanism Based on Chained Beam-Constraint Model
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Topics: Design, Finite element analysis, Optimization, Torque, Stress
Journal Articles

A Novel Variable Stiffness Compliant Robotic Link Based on Discrete Variable Stiffness Units for Safe Human–Robot Interaction

Free
Jiaming Fu, Ziqing Yu, Han Lin, Lianxi Zheng, Dongming Gan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. January 2024, 16(1): 014501.
Paper No: JMR-22-1505
https://doi.org/10.1115/1.4056957
Published Online: March 8, 2023
View Articletitled, A Novel Variable Stiffness Compliant Robotic Link Based on Discrete Variable Stiffness Units for Safe Human–Robot Interaction
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Topics: Stiffness, Finite element analysis
Journal Articles

Design and Analysis of an Active Swing Decoupling Compliant Mechanism With Multiple Co-Directional Input Branches

Available to Purchase
Guoshuai Liu, Pengbo Liu, Peng Yan, Yushu Shi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021004.
Paper No: JMR-22-1437
https://doi.org/10.1115/1.4056674
Published Online: March 3, 2023
View Articletitled, Design and Analysis of an Active Swing Decoupling Compliant Mechanism With Multiple Co-Directional Input Branches
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Topics: Compliant mechanisms, Design, Displacement, Hinges, Modeling, Rotation, Simulation, Finite element analysis, Deformation, Engineering prototypes
Journal Articles

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Available to Purchase
Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064502.
Paper No: JMR-22-1356
https://doi.org/10.1115/1.4056502
Published Online: January 23, 2023
View Articletitled, Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
Open the PDF for Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches in another window
Topics: Cables, Calibration, Degrees of freedom, Design, Laparoscopic devices, Robotics, Robots, Surgery, Motion control, Finite element analysis
Journal Articles

An Analytical Stress–Deflection Model for Fixed-Clamped Flexures Using a Pseudo-Rigid-Body Approach

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Connor Huxman, Jared Butler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061010.
Paper No: JMR-22-1408
https://doi.org/10.1115/1.4056381
Published Online: January 18, 2023
View Articletitled, An Analytical Stress–Deflection Model for Fixed-Clamped Flexures Using a Pseudo-Rigid-Body Approach
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Topics: Bending (Stress), Deflection, Stress, Finite element analysis
Journal Articles

Topology Optimization Method for Designing Compliant Mechanism With Given Constant Force Range

Available to Purchase
Junwen Liang, Xianmin Zhang, Benliang Zhu, Hongchuan Zhang, Rixin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061008.
Paper No: JMR-21-1643
https://doi.org/10.1115/1.4056379
Published Online: January 17, 2023
View Articletitled, Topology Optimization Method for Designing Compliant Mechanism With Given Constant Force Range
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Topics: Design, Optimization, Topology optimization, Displacement, Finite element analysis, Density, Compliant mechanisms
Journal Articles

Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain

Free
Gaurav Singh, Ahsan Nawroj, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021013.
Paper No: JMR-21-1511
https://doi.org/10.1115/1.4054613
Published Online: June 23, 2022
View Articletitled, Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain
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Topics: Actuators, Deformation, Finite element analysis, Robots, Topology, Design, Stiffness, Shapes