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

Necessary and Sufficient Design Conditions for Overconstrained Cam Mechanisms With Flat-Faced and Roller Follower

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Yen-Nien Chen, Kuan-Lun Hsu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. July 2025, 17(7): 075002.
Paper No: JMR-24-1535
https://doi.org/10.1115/1.4067993
Published Online: March 10, 2025
View Articletitled, Necessary and Sufficient Design Conditions for Overconstrained Cam Mechanisms With Flat-Faced and Roller Follower
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Topics: Design, Oscillations, Rollers, Displacement, Rotation, Mechanical admittance
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

The Synthesis of Spherical Four-Bars for Biomimetic Motion Through Complete Solutions for Approximate Rigid Body Guidance

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Sam O’Connor, Mark Plecnik
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044517.
Paper No: JMR-24-1451
https://doi.org/10.1115/1.4066850
Published Online: February 27, 2025
View Articletitled, The Synthesis of Spherical Four-Bars for Biomimetic Motion Through Complete Solutions for Approximate Rigid Body Guidance
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Topics: Biomimetics, Errors, Kinematics, Optimization, Seas, Wings, Engineering prototypes, Rotation
Includes: Multimedia, Supplementary data
Journal Articles

Uniform Stretch Behavior of Creased Units

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Qian Zhang, Marco Meloni, Jian Feng, Jianguo Cai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071006.
Paper No: JMR-24-1307
https://doi.org/10.1115/1.4067623
Published Online: February 25, 2025
View Articletitled, Uniform Stretch Behavior of Creased Units
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Topics: Deformation, Stiffness, Tension, Shapes, Geometry, Stress, Rotation, Design
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

Design and Analysis of a Bimanual Parallel Dexterous Hand With Cooperative Manipulation Capability

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Donglai Xu, Sheng Guo, Fuqun Zhao, Xiaodong Jin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061014.
Paper No: JMR-24-1269
https://doi.org/10.1115/1.4067481
Published Online: January 20, 2025
View Articletitled, Design and Analysis of a Bimanual Parallel Dexterous Hand With Cooperative Manipulation Capability
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Topics: Design, Engineering prototypes, Jacobian matrices, Kinematics, Parallel mechanisms, Rotation, Stiffness, Shapes, Manufacturing, Pinch effect
Journal Articles

Theoretical Analysis of Workspace of a Hybrid Offset Joint

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Li Peiyi, Han Hasiaoqier, Lin Junwei, Chen Liheng, Wu Qingwen, Xu Zhenbang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2025, 17(2): 024501.
Paper No: JMR-24-1259
https://doi.org/10.1115/1.4067231
Published Online: December 19, 2024
View Articletitled, Theoretical Analysis of Workspace of a Hybrid Offset Joint
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Topics: Design, Manipulators, Robotics, Rotation, Theoretical analysis, Robots
Journal Articles

Designing Multi-axis Compliant Mechanisms With Lockable Decoupled Inputs: A Tip–Tilt Case Study

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Greta Vazzoler, Sam Shimohara, Giovanni Berselli, Jonathan B. Hopkins
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044507.
Paper No: JMR-24-1463
https://doi.org/10.1115/1.4066982
Published Online: November 6, 2024
View Articletitled, Designing Multi-axis Compliant Mechanisms With Lockable Decoupled Inputs: A Tip–Tilt Case Study
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Topics: Rotation, Stiffness, Switches, Compliant mechanisms, Design, Bistability
Journal Articles

The Interior Contact-Aided Rolling Element

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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

One-Step Solving the Robot-World and Hand–Eye Calibration Based on the Principle of Transference

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Xiao Wang, Hanwen Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031014.
Paper No: JMR-24-1127
https://doi.org/10.1115/1.4066402
Published Online: September 20, 2024
View Articletitled, One-Step Solving the Robot-World and Hand–Eye Calibration Based on the Principle of Transference
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Topics: Calibration, Equations of motion, Kinematics, Rotation, Robots, Simulation
Journal Articles

Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions

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Rongfu Lin, Weizhong Guo, Wenhui Zeng, Kim Yan, Chun Ping Lam, Shing Shin Cheng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021010.
Paper No: JMR-24-1062
https://doi.org/10.1115/1.4066132
Published Online: September 3, 2024
View Articletitled, Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions
Open the PDF for Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions in another window
Topics: Design, Kinematics, End effectors, Jacobian matrices, Rotation, Screws, Engineering prototypes
Journal Articles

Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper

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Yoshinobu Onozawa, Keisuke Yagi, Yoshikazu Mori
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021011.
Paper No: JMR-24-1201
https://doi.org/10.1115/1.4066133
Published Online: September 3, 2024
View Articletitled, Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper
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Topics: Design, Springs, Synchronization, Torque, Rotation
Journal Articles

Development and Analysis of a Novel Bio-Syncretic Parallel Hip Exoskeleton Based on Torque Requirements

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Jilong Xu, Yunzhan Niu, Fucai Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031001.
Paper No: JMR-23-1755
https://doi.org/10.1115/1.4066039
Published Online: August 8, 2024
View Articletitled, Development and Analysis of a Novel Bio-Syncretic Parallel Hip Exoskeleton Based on Torque Requirements
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Topics: Exoskeleton devices, Motors, Torque, Human-machine systems, Rotation
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

Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases

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Feng Wang, Fan Zhang, Guohua Cui
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011001.
Paper No: JMR-23-1751
https://doi.org/10.1115/1.4065461
Published Online: June 18, 2024
View Articletitled, Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases
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Topics: Deformation, Rotation, Stiffness, Design, Linkages, Kinematics, Plates (structures)
Journal Articles

Design and Analysis of a New Non-Parasitic Parallel Mechanism for 2T1R Motion

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Huiping Shen, Yao Tang, Marco Ceccarelli, Ju Li, Tao Li, Hongbo He
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. January 2025, 17(1): 014501.
Paper No: JMR-23-1310
https://doi.org/10.1115/1.4065678
Published Online: June 18, 2024
View Articletitled, Design and Analysis of a New Non-Parasitic Parallel Mechanism for 2T1R Motion
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Topics: Design, Kinematics, Topology, Parallel mechanisms, Rotation
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

Near-Zero Parasitic Shift Flexure Pivots Based on Coupled n -RRR Planar Parallel Mechanisms

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Loïc Tissot-Daguette, Florent Cosandier, Etienne Thalmann, Simon Henein
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111006.
Paper No: JMR-23-1637
https://doi.org/10.1115/1.4065074
Published Online: April 9, 2024
View Articletitled, Near-Zero Parasitic Shift Flexure Pivots Based on Coupled n -RRR Planar Parallel Mechanisms
Open the PDF for Near-Zero Parasitic Shift Flexure Pivots Based on Coupled n -RRR Planar Parallel Mechanisms in another window
Topics: Bending (Stress), Finite element model, Rotation, Stiffness, Kinematics, Engineering prototypes, Parallel mechanisms
Journal Articles

Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms

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Yuting Du, Qiang Ruan, Yan-an Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081017.
Paper No: JMR-23-1764
https://doi.org/10.1115/1.4064741
Published Online: March 20, 2024
View Articletitled, Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms
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Topics: Design, Engineering prototypes, Rotation, Wheels, Linkages, Optimization, Kinematics