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Journal Articles

Ranking Static Balancing Methods Based on the Actuating Frictional Effort

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Rudra Ramu, Sangamesh Deepak R
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091001.
Paper No: JMR-24-1360
https://doi.org/10.1115/1.4068330
Published Online: April 17, 2025
View Articletitled, Ranking Static Balancing Methods Based on the Actuating Frictional Effort
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Topics: Friction, Linkages, Springs
Journal Articles

A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators

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Matteo Verotti, Marco Morandini, Pierangelo Masarati
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071003.
Paper No: JMR-24-1543
https://doi.org/10.1115/1.4067626
Published Online: February 11, 2025
View Articletitled, A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators
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Topics: End effectors, Manipulators, Stiffness, Displacement, Rotation, Friction
Journal Articles

Towing an Object With a Rover

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Matteo Caruso, Nicholas Sesto Gorella, Paolo Gallina, Stefano Seriani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021001.
Paper No: JMR-23-1486
https://doi.org/10.1115/1.4065697
Published Online: July 19, 2024
View Articletitled, Towing an Object With a Rover
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Topics: Dynamics (Mechanics), Friction, Kinematics, Path planning, Pressure, Sensitivity analysis, Simulation, Trajectories (Physics), Geometry, Wheels
Journal Articles

Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots

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Jer Luen Chien, Clarissa Leong, Jingmin Liu, Shaohui Foong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121011.
Paper No: JMR-23-1648
https://doi.org/10.1115/1.4065370
Published Online: May 21, 2024
View Articletitled, Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots
Open the PDF for Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots in another window
Topics: Friction, Robots, Tendons, Control equipment, Shapes
Journal Articles

Design of an Efficient Non-Backdrivable Mechanism With Wrap Spring for Hand Prosthesis

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Côme Butin, Yannick Aoustin, David Gouaillier, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101015.
Paper No: JMR-23-1557
https://doi.org/10.1115/1.4064739
Published Online: March 29, 2024
View Articletitled, Design of an Efficient Non-Backdrivable Mechanism With Wrap Spring for Hand Prosthesis
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Topics: Friction, Springs, Stress, Torque, Prostheses, Design, Manufacturing
Journal Articles

Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot

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Qi Yang, Xinyu Liu, Ze Yu, Binbin Lian, Tao Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061011.
Paper No: JMR-23-1266
https://doi.org/10.1115/1.4063290
Published Online: October 4, 2023
View Articletitled, Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot
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Topics: Cables, Friction, Kinematics, Robots, Optimization, Modeling, Displacement, Stiffness, Tensegrity, Mobile robots
Journal Articles

Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand

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Yen-Hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Zhongtao Fu, Shuangjia Xu, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051018.
Paper No: JMR-21-1754
https://doi.org/10.1115/1.4062238
Published Online: May 2, 2023
View Articletitled, Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand
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Topics: Friction, Design, Robotics, End effectors
Journal Articles

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms

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Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021001.
Paper No: JMR-22-1290
https://doi.org/10.1115/1.4056600
Published Online: March 3, 2023
View Articletitled, Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
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Topics: Design, Springs, Torque, Wire, Degrees of freedom, Friction, Cams
Journal Articles

Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes

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Tomasz Piatkowski
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061009.
Paper No: JMR-22-1315
https://doi.org/10.1115/1.4056380
Published Online: January 18, 2023
View Articletitled, Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes
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Topics: Conveyor systems, Friction, Rollers
Journal Articles

On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm

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Jean-Michel Boisclair, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051001.
Paper No: JMR-22-1043
https://doi.org/10.1115/1.4055605
Published Online: November 24, 2022
View Articletitled, On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm
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Topics: Artificial limbs, Deformation, Design, Grasping, Rolling contact, Optimization, Cables, Pinch effect, Friction, Prostheses
Journal Articles

Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand

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Côme Butin, Damien Chablat, Yannick Aoustin, David Gouaillier
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011003.
Paper No: JMR-21-1738
https://doi.org/10.1115/1.4054273
Published Online: April 25, 2022
View Articletitled, Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand
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Topics: Springs, Stress, Torque, Friction, Grasping, Design, Prostheses, Artificial limbs, Motors
Journal Articles

Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects

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Rajesh Kumar, Sudipto Mukherjee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021005.
Paper No: JMR-21-1189
https://doi.org/10.1115/1.4052323
Published Online: September 21, 2021
View Articletitled, Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects
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Topics: Algorithms, End effectors, Friction, Grasping, Robotics, Rotation, Simulation, Kinematics, Robots, Fixturing
Journal Articles

Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck

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Benjamin Fasquelle, Parag Khanna, Christine Chevallereau, Damien Chablat, Denis Creusot, Stéphane Jolivet, Philippe Lemoine, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011005.
Paper No: JMR-21-1108
https://doi.org/10.1115/1.4051521
Published Online: July 6, 2021
View Articletitled, Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck
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Topics: Cables, Friction, Stiffness
Journal Articles

A Mobile Mathieu Oscillator Model for Vibrational Locomotion of a Bristlebot

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Phanindra Tallapragada, Chandravamsi Gandra
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2021, 13(5): 054501.
Paper No: JMR-20-1362
https://doi.org/10.1115/1.4050561
Published Online: May 20, 2021
View Articletitled, A Mobile Mathieu Oscillator Model for Vibrational Locomotion of a Bristlebot
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Topics: Anisotropy, Dynamics (Mechanics), Friction, Oscillations, Phase diagrams, Robots, Simulation, Stick-slip, Resonance, Design
Journal Articles

Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact

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Jiayin Xie, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041001.
Paper No: JMR-20-1012
https://doi.org/10.1115/1.4049877
Published Online: April 9, 2021
View Articletitled, Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact
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Topics: Equations of motion, Friction, Hull, Modeling, Simulation, Dynamic models, Rigid-body mechanisms, Collisions (Physics), Impulse (Physics), Kinematics
Journal Articles

Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot

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Stephen L. Canfield, Joseph S. Owens, Stephen G. Zuccaro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031016.
Paper No: JMR-20-1457
https://doi.org/10.1115/1.4050102
Published Online: March 15, 2021
View Articletitled, Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot
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Topics: Computer programming, Friction, Robots, Torque, Welding
Journal Articles

Theoretical and Experimental Study on Active Stiffness Control of a Two-Degrees-of-Freedom Rope-Driven Parallel Mechanism

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Haiyu Gu, Cheng Wei, Zeming Zhang, Yang Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011018.
Paper No: JMR-20-1045
https://doi.org/10.1115/1.4048751
Published Online: November 16, 2020
View Articletitled, Theoretical and Experimental Study on Active Stiffness Control of a Two-Degrees-of-Freedom Rope-Driven Parallel Mechanism
Open the PDF for Theoretical and Experimental Study on Active Stiffness Control of a Two-Degrees-of-Freedom Rope-Driven Parallel Mechanism in another window
Topics: Ropes, Stiffness, Tension, Simulation, Friction
Journal Articles

A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force

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Jianhua Li, Yuanyuan Zhou, Chongyang Wang, Zhidong Wang, Hao Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041013.
Paper No: JMR-19-1142
https://doi.org/10.1115/1.4046035
Published Online: March 9, 2020
View Articletitled, A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force
Open the PDF for A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force in another window
Topics: Displacement, Friction, Manipulators, Shapes, Tendons
Journal Articles

Evaluation and Modeling of the Friction in Robotic Joints Considering Thermal Effects

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Roberto Pagani, Giovanni Legnani, Giovanni Incerti, Matteo Gheza
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021108.
Paper No: JMR-19-1423
https://doi.org/10.1115/1.4045939
Published Online: February 6, 2020
View Articletitled, Evaluation and Modeling of the Friction in Robotic Joints Considering Thermal Effects
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Topics: Cycles, Friction, Robots, Temperature, Torque, Temperature effects
Journal Articles

Design and Experimental Validation of Two Cam-Based Force Regulation Mechanisms

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Ming Li, Wei Cheng, Ruili Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031003.
Paper No: JMR-19-1384
https://doi.org/10.1115/1.4045427
Published Online: January 10, 2020
View Articletitled, Design and Experimental Validation of Two Cam-Based Force Regulation Mechanisms
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Topics: Design, Displacement, Engineering prototypes, Friction, Springs, Errors, Trajectories (Physics)