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Journal Articles

Cable Tension Minimization of a Redundant Cable-Driven Robot With Flexible End Effector

Available to Purchase
Dong-Jie Zhao, Han-Lin Sun, Li-Ming Liu, Jiang-Kun Shang, Guan-Yu Cao, Jing-Shan Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2025, 17(10): 101003.
Paper No: JMR-25-1058
https://doi.org/10.1115/1.4068610
Published Online: May 23, 2025
View Articletitled, Cable Tension Minimization of a Redundant Cable-Driven Robot With Flexible End Effector
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Topics: Cables, Robots, Tension, Deflection, Design
Journal Articles

Mechanical design and analysis of a novel group of spatial parallel manipulators with single closed loop

Available to Purchase
Accepted Manuscript
Qi Zou, Yuancheng Shi, Shuo Zhang, Sanghwa Kim, Byung-Ju Yi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1729
https://doi.org/10.1115/1.4068723
Published Online: May 20, 2025
View Articletitled, Mechanical design and analysis of a novel group of spatial parallel manipulators with single closed loop
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Topics: Design engineering, Manipulators, Robots
Journal Articles

A Quotient Manifold Identification Method Based on the Chasles Decomposition Models for the Quotient Mechanis

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Accepted Manuscript
Tao Liu, Yanzhi Zhao, Shijun Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-25-1108
https://doi.org/10.1115/1.4068722
Published Online: May 20, 2025
View Articletitled, A Quotient Manifold Identification Method Based on the Chasles Decomposition Models for the Quotient Mechanis
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Topics: Design, Innovation, Kinematics, Manifolds, Robots
Journal Articles

Design of a Low-Frequency Vibration Isolator with Large-Stroke and Variable-Payload Capabilities Using Gear-Spring Units

Open Access
Accepted Manuscript
Vu Linh Nguyen, Latifah Nurahmi, Van-Truong Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1722
https://doi.org/10.1115/1.4068692
Published Online: May 15, 2025
View Articletitled, Design of a Low-Frequency Vibration Isolator with Large-Stroke and Variable-Payload Capabilities Using Gear-Spring Units
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Topics: Compliant mechanisms, Design, Dynamics (Mechanics), Gears, Kinematics, Multibody dynamics, Robots, Springs, Vibration isolators
Journal Articles

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

Available to Purchase
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

Kinematics of a Parallel Robot with Six Pairs of Offset Joints

Available to Purchase
Accepted Manuscript
Hasiaoqier Han, Metin Toz, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1487
https://doi.org/10.1115/1.4068645
Published Online: May 12, 2025
View Articletitled, Kinematics of a Parallel Robot with Six Pairs of Offset Joints
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Topics: Kinematics, Robots, Computer simulation, Displacement, Machinery, Universal joints
Journal Articles

An Improved Dual Quaternion Dynamic Movement Primitives-Based Algorithm for Robot-Agnostic Learning and Execution of Throwing Tasks

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Freddy Liendo, Camilo Hernández, Christine Galez
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091012.
Paper No: JMR-24-1227
https://doi.org/10.1115/1.4068555
Published Online: May 9, 2025
View Articletitled, An Improved Dual Quaternion Dynamic Movement Primitives-Based Algorithm for Robot-Agnostic Learning and Execution of Throwing Tasks
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Topics: Projectiles, Robots, Kinematics
Journal Articles

Kinematic Modeling and Workspace Analysis of a Cable-Driven Parallel Robot Considering Environmental Collisions

Available to Purchase
Wei Wang, Jiahao Zhao, Yuan Li, Bin Zi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091011.
Paper No: JMR-25-1074
https://doi.org/10.1115/1.4068530
Published Online: May 7, 2025
View Articletitled, Kinematic Modeling and Workspace Analysis of a Cable-Driven Parallel Robot Considering Environmental Collisions
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Topics: Cables, Collisions (Physics), Kinematics, Robots, Cylinders
Journal Articles

A Dual-Robot System Design for In-Cabin Pose Adjusting of Heavy Parts

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Ce Li, Zhiyuan He, Huijiang Zheng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091003.
Paper No: JMR-24-1694
https://doi.org/10.1115/1.4068313
Published Online: May 6, 2025
View Articletitled, A Dual-Robot System Design for In-Cabin Pose Adjusting of Heavy Parts
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Topics: Robots, Stiffness
Journal Articles

Automated Task-Based Approach to Modular Manipulator Design: Position Accuracy and Heavy Payload Capacity Requirements

Available to Purchase
Thais Campos Farley, Hadas Kress-Gazit
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081012.
Paper No: JMR-24-1400
https://doi.org/10.1115/1.4068240
Published Online: April 8, 2025
View Articletitled, Automated Task-Based Approach to Modular Manipulator Design: Position Accuracy and Heavy Payload Capacity Requirements
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Topics: Kinematics, Manipulators, Optimization, Design, Robots, Actuators
Includes: Multimedia, Supplementary data
Journal Articles

Design and Autonomous Obstacle-Crossing Strategy of a Reconfigurable Closed-Chain Legged Robot

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Meng Zhao, Qiang Ruan, Jianxu Wu, Hong Liu, Yanan Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2025, 17(8): 084501.
Paper No: JMR-24-1378
https://doi.org/10.1115/1.4068274
Published Online: April 8, 2025
View Articletitled, Design and Autonomous Obstacle-Crossing Strategy of a Reconfigurable Closed-Chain Legged Robot
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Topics: Chain, Design, Robots, Trajectories (Physics), Simulation
Journal Articles

Wrench Capability Analysis of a Cooperative Multi-Unmanned Aerial Vehicle Parallel Robot With Rigid Links

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Shiyu Liu, Stéphane Caro, Abdelhamid Chriette, Isabelle Fantoni
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081011.
Paper No: JMR-24-1233
https://doi.org/10.1115/1.4068272
Published Online: April 3, 2025
View Articletitled, Wrench Capability Analysis of a Cooperative Multi-Unmanned Aerial Vehicle Parallel Robot With Rigid Links
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Topics: Equilibrium (Physics), Robots, Thrust, Simulation
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

Available to Purchase
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
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Topics: Cables, Calibration, Composite materials, Kinematics, Robots, Surgery, Modeling, Optimization, Trajectories (Physics), Errors
Journal Articles

A Study on the Comparative Analysis of Self-Aligned and Alignment-Free Mechanisms for Shoulder Rehabilitation

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Qiang Cao, Yongqi Yuan, Guoyu Li, Wenhao Shan, Yue Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081007.
Paper No: JMR-24-1633
https://doi.org/10.1115/1.4068185
Published Online: April 3, 2025
View Articletitled, A Study on the Comparative Analysis of Self-Aligned and Alignment-Free Mechanisms for Shoulder Rehabilitation
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Topics: Design, Exoskeleton devices, Kinematics, Robots, Displacement
Journal Articles

SomerBot: A Two-Legged Somersaulting Robotic Climber With Compliant Footpad

Available to Purchase
Kadali Mani Sankar, Atul Thakur
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081009.
Paper No: JMR-24-1505
https://doi.org/10.1115/1.4068242
Published Online: April 3, 2025
View Articletitled, SomerBot: A Two-Legged Somersaulting Robotic Climber With Compliant Footpad
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Topics: Adhesion, Design, Robots, Energy consumption
Journal Articles

Design and Analysis of Safety Evaluation of Parallel Cable-Driven Upper Limb Rehabilitation Robot

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Yupeng Zou, Keyu Pan, Qiang Yu, Jianheng Tang, Pengyue Wang, Junhe Chen, Kefei Wang, Minghan Jiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081010.
Paper No: JMR-25-1045
https://doi.org/10.1115/1.4068243
Published Online: April 3, 2025
View Articletitled, Design and Analysis of Safety Evaluation of Parallel Cable-Driven Upper Limb Rehabilitation Robot
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Topics: Cables, Robots, Safety, Stability, Tension, Stiffness, Design
Journal Articles

Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors

Available to Purchase
Severino Hernandez, Nina Robson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081002.
Paper No: JMR-24-1435
https://doi.org/10.1115/1.4067873
Published Online: March 20, 2025
View Articletitled, Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors
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Topics: Design, Trajectories (Physics), Knee, Kinematics, Linkages, Robots, Engineering prototypes
Journal Articles

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

Available to Purchase
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

Available to Purchase
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

Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

Available to Purchase
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