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Journal Articles

A small-scale integrated jumping-crawling robot: design, modeling, and demonstration

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Accepted Manuscript
Quan Liu, Zhongjun Yin, Mingge Li, Xiaoming Huang, Wenxi Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-25-1004
https://doi.org/10.1115/1.4068660
Published Online: May 13, 2025
View Articletitled, A small-scale integrated jumping-crawling robot: design, modeling, and demonstration
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Topics: Design, Modeling, Robots, Biomimetics, Dynamics (Mechanics), Kinematics
Journal Articles

Chained Timoshenko Beam Constraint Model With Applications in Large Deflection Analysis of Compliant Mechanism

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Peiqing Li, Kaifa Wang, Baolin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2025, 17(10): 101001.
Paper No: JMR-24-1510
https://doi.org/10.1115/1.4068557
Published Online: May 9, 2025
View Articletitled, Chained Timoshenko Beam Constraint Model With Applications in Large Deflection Analysis of Compliant Mechanism
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Topics: Compliant mechanisms, Deflection, Deformation, Shear (Mechanics), Displacement, Modeling
Includes: Supplementary data
Journal Articles

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

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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
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Topics: Control equipment, Design, Displacement, Feedforward control, Modeling, Optimization, Finite element analysis, Dynamic response, Resolution (Optics), Errors
Journal Articles

Modeling and Analysis of Pose Accuracy Reliability of Parallel Mechanisms

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Accepted Manuscript
Manxin Wang, Yakai Li, Mingfeng Fang, Chuhan Wu, Yibo Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1354
https://doi.org/10.1115/1.4068594
Published Online: May 5, 2025
View Articletitled, Modeling and Analysis of Pose Accuracy Reliability of Parallel Mechanisms
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Topics: Modeling, Parallel mechanisms, Reliability, Errors, Manufacturing, End effectors, Economics , Mechanical admittance, Sensitivity analysis
Journal Articles

Design, Analysis, and Development of a Novel 6-Degrees-of-Freedom Surgical Robot Using Cable-Driven Composite Continuum Mechanisms With Decoupling Kinematic Method

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Zhengyu Wang, Shiyang Bao, Xiang Yu, Xuchang Liu, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081005.
Paper No: JMR-24-1563
https://doi.org/10.1115/1.4068165
Published Online: April 3, 2025
View Articletitled, Design, Analysis, and Development of a Novel 6-Degrees-of-Freedom Surgical Robot Using Cable-Driven Composite Continuum Mechanisms With Decoupling Kinematic Method
Open the PDF for Design, Analysis, and Development of a Novel 6-Degrees-of-Freedom Surgical Robot Using Cable-Driven Composite Continuum Mechanisms With Decoupling Kinematic Method in another window
Topics: Cables, Calibration, Composite materials, Kinematics, Robots, Surgery, Modeling, Optimization, Trajectories (Physics), Errors
Journal Articles

Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot

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Qingjun Wu, Bin Zi, Bo Hu, Yuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081003.
Paper No: JMR-24-1422
https://doi.org/10.1115/1.4068120
Published Online: March 20, 2025
View Articletitled, Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot
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Topics: Cables, Kinematics, Robots, End effectors, Springs, Dynamics (Mechanics), Modeling
Journal Articles

Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance

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Sipeng Zhou, Zihan Pu, Shaoke Yuan, Yanqiong Fei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. July 2025, 17(7): 075003.
Paper No: JMR-24-1295
https://doi.org/10.1115/1.4068019
Published Online: March 10, 2025
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
Journal Articles

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

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Shilei Wu, Mingxiang Ling, Zhujin Jiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. July 2025, 17(7): 074501.
Paper No: JMR-24-1507
https://doi.org/10.1115/1.4067721
Published Online: February 11, 2025
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
Journal Articles

Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input

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Junho Hong, Daehie Hong, Chanwoo Kim, Seong Hyeon Won
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051009.
Paper No: JMR-24-1154
https://doi.org/10.1115/1.4067020
Published Online: November 22, 2024
View Articletitled, Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input
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Topics: Feedforward control, Modeling, Shapes, Tendons, Calibration, Deformation, Degrees of freedom
Journal Articles

Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction

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Sen Qian, Changqi Li, Zeyao Zhao, Bin Zi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061002.
Paper No: JMR-24-1340
https://doi.org/10.1115/1.4067022
Published Online: November 22, 2024
View Articletitled, Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction
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Topics: Additive manufacturing, Cables, Construction, End effectors, Errors, Gravity (Force), Kinematics, Motion control, Path planning, Printing
Journal Articles

Fourth-Order Accurate Strain-Parameterized Shape Representation of Beam Elements for Modeling Continuum Robots and Robotic Manipulation of Slender Objects

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Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044509.
Paper No: JMR-24-1439
https://doi.org/10.1115/1.4066904
Published Online: November 18, 2024
View Articletitled, Fourth-Order Accurate Strain-Parameterized Shape Representation of Beam Elements for Modeling Continuum Robots and Robotic Manipulation of Slender Objects
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Topics: Approximation, Deformation, Displacement, Interpolation, Kinematics, Robots, Shapes, Stress, Robotics, Modeling
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

Modeling, Simulation, and Kinematic Validation of Transfemoral Prosthetic Mechanism With Ankle Varus–Valgus Characteristic

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Majun Song, Zhongyi Li, Hao Zheng, Weihai Chen, Sheng Guo, Lianzheng Niu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031016.
Paper No: JMR-23-1788
https://doi.org/10.1115/1.4066552
Published Online: October 25, 2024
View Articletitled, Modeling, Simulation, and Kinematic Validation of Transfemoral Prosthetic Mechanism With Ankle Varus–Valgus Characteristic
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Topics: Artificial limbs, Kinematics, Modeling, Optimization, Prostheses, Simulation, Knee
Journal Articles

Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism

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Xiaolu Zhao, Fujun Wang, Changping Tao, Beichao Shi, Zhichen Huo, Yanling Tian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031002.
Paper No: JMR-24-1102
https://doi.org/10.1115/1.4066135
Published Online: September 3, 2024
View Articletitled, Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism
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Topics: Design, Kinematics, Robots, Surgery, Errors, Modeling
Journal Articles

Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance

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Sen Xu, Kai Tang, Lingmin Xu, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031003.
Paper No: JMR-24-1141
https://doi.org/10.1115/1.4066136
Published Online: September 3, 2024
View Articletitled, Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
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Topics: Calibration, Design, Exoskeleton devices, Modeling, Rods, Stiffness, Torque, Parallel mechanisms, Errors
Journal Articles

Modeling Abduction Mechanism of Soft Actuator With Elastica for Robotic Hands

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Sheng-Guan Lin, Jen-Yuan (James) Chang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021003.
Paper No: JMR-24-1055
https://doi.org/10.1115/1.4065750
Published Online: July 19, 2024
View Articletitled, Modeling Abduction Mechanism of Soft Actuator With Elastica for Robotic Hands
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Topics: Actuators, Membranes, Springs, Deformation, Robotics, Stiffness, Modeling
Journal Articles

Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference

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Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011006.
Paper No: JMR-24-1049
https://doi.org/10.1115/1.4065520
Published Online: June 24, 2024
View Articletitled, Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
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Topics: Dynamics (Mechanics), Knee, Torque, Kinematics, Exoskeleton devices, Dynamic models, Manipulators, Modeling
Journal Articles

Kinetostatic Modeling of an Asymmetrical Double-Stepped Beam for Displacement Amplification

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Tri-Hieu Nguyen, Huy-Tuan Pham, Ngoc Dang Khoa Tran, Dung-An Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011003.
Paper No: JMR-24-1051
https://doi.org/10.1115/1.4065521
Published Online: June 18, 2024
View Articletitled, Kinetostatic Modeling of an Asymmetrical Double-Stepped Beam for Displacement Amplification
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Topics: Displacement, Stress, Buckling, Symmetry (Physics), Modeling
Journal Articles

Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator

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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

An Actuation Acceleration-Based Kinematic Modeling and Parameter Identification Approach for a Six-Degrees-of-Freedom 6-PSU Parallel Robot With Joint Clearances

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Xin Liu, Chenkun Qi, Jianfeng Lin, Dongjin Li, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011005.
Paper No: JMR-23-1403
https://doi.org/10.1115/1.4065679
Published Online: June 18, 2024
View Articletitled, An Actuation Acceleration-Based Kinematic Modeling and Parameter Identification Approach for a Six-Degrees-of-Freedom 6-PSU Parallel Robot With Joint Clearances
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Topics: Errors, Kinematics, Modeling, Robots, Clearances (Engineering), End effectors