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Journal Articles

Dynamic manipulability for a two link manipulator driven by pneumatic artificial muscles and passive springs

Accepted Manuscript
Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1509
https://doi.org/10.1115/1.4068431
Published Online: April 11, 2025
View Articletitled, Dynamic manipulability for a two link manipulator driven by pneumatic artificial muscles and passive springs
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Topics: Dynamics (Mechanics), Manipulators, Pneumatic artificial muscles, Springs, Engineering simulation, Simulation, Stiffness, Trajectories (Physics), Robots, Compliant mechanisms
Journal Articles

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

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

Design and Dynamic Analysis of a Bio-Inspired Rolling Joint Manipulator Based on Pulley-Cable System

Song Zeng, Yixin Zhang, Shaoping Wang, Giorgio Guglieri, Stefano Primatesta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081006.
Paper No: JMR-24-1583
https://doi.org/10.1115/1.4068166
Published Online: April 3, 2025
View Articletitled, Design and Dynamic Analysis of a Bio-Inspired Rolling Joint Manipulator Based on Pulley-Cable System
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Topics: Cables, Pulleys, Tension, Simulation
Journal Articles

Hydrogel Soft Valve With Shape-Memory Actuators for Advanced Cuff Gripping and Fluid Control

Manivannan Sivaperuman Kalairaj, Hritwick Banerjee, Kirthika Senthil Kumar, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081008.
Paper No: JMR-24-1475
https://doi.org/10.1115/1.4068241
Published Online: April 3, 2025
View Articletitled, Hydrogel Soft Valve With Shape-Memory Actuators for Advanced Cuff Gripping and Fluid Control
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Topics: Actuators, Cycles, Flow control, Fluids, Hydrogels, Manufacturing, Shapes, Valves, Wire, Biomedicine
Journal Articles

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

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

Performance Analysis of a Hexagon Rolling Mechanism With Single Degree of Freedom

Qianqian Zhang, Yezhuo Li, Shaoze Yan, Yan-an Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081001.
Paper No: JMR-24-1625
https://doi.org/10.1115/1.4068020
Published Online: March 10, 2025
View Articletitled, Performance Analysis of a Hexagon Rolling Mechanism With Single Degree of Freedom
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Topics: Design, Engineering prototypes, Simulation, Linkages
Journal Articles

Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

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
Journal Articles

Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators

Tong Liu, Xiaojie Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071004.
Paper No: JMR-24-1530
https://doi.org/10.1115/1.4067722
Published Online: February 11, 2025
View Articletitled, Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators
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Topics: Actuators, Buckling, Deformation, Design, Shapes, Simulation, Design methodology
Journal Articles

An Undulating Kirigami Pattern With Enhanced Tear Strength

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

Point-Based Models: A Unified Approach for Geometric Constraint Analysis of Planar n -Bar Mechanisms With Rotary, Sliding, and Rolling Joints

Zhijie Lyu, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044514.
Paper No: JMR-24-1500
https://doi.org/10.1115/1.4066963
Published Online: January 20, 2025
View Articletitled, Point-Based Models: A Unified Approach for Geometric Constraint Analysis of Planar n -Bar Mechanisms With Rotary, Sliding, and Rolling Joints
Open the PDF for Point-Based Models: A Unified Approach for Geometric Constraint Analysis of Planar n -Bar Mechanisms With Rotary, Sliding, and Rolling Joints in another window
Topics: Actuators, Constraint equations, Kinematics, Simulation, Wheels, Belts, Mechanical admittance, Stiffness, Algorithms
Journal Articles

Kinematic Analysis and Trajectory Planning of Multi-Segment Continuum Manipulator

Zhengfeng Bai, Yuxin Niu, Qingfeng Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061008.
Paper No: JMR-24-1119
https://doi.org/10.1115/1.4067229
Published Online: December 12, 2024
View Articletitled, Kinematic Analysis and Trajectory Planning of Multi-Segment Continuum Manipulator
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Topics: Kinematics, Manipulators, Trajectories (Physics), Simulation, Actuators, Algorithms
Journal Articles

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

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

Chained Spatial Beam Adomian Decomposition Model: A Novel Model of Flexible Slender Beams for Large Spatial Deflections

Yuhan Chen, Guimin Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051010.
Paper No: JMR-24-1380
https://doi.org/10.1115/1.4067023
Published Online: November 22, 2024
View Articletitled, Chained Spatial Beam Adomian Decomposition Model: A Novel Model of Flexible Slender Beams for Large Spatial Deflections
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Topics: Deflection, Stress, Differential equations, Simulation, Displacement, Robots
Journal Articles

Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter

Eeshan Kulkarni, Suresh Sundaram
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061003.
Paper No: JMR-24-1239
https://doi.org/10.1115/1.4067068
Published Online: November 22, 2024
View Articletitled, Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter
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Topics: Control equipment, Design, Dynamics (Mechanics), Flight, Mechanical drives, Motors, Propellers, Servomotors, Weight (Mass), Torque
Journal Articles

Parallel Force Feedback Device Design With Constant Jacobian Matrix and Net Weight Fully Balanced

Zhaopeng Jin, Yanzhi Zhao, Yajun Liu, Yu Shan, Yue Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051003.
Paper No: JMR-23-1538
https://doi.org/10.1115/1.4066744
Published Online: November 1, 2024
View Articletitled, Parallel Force Feedback Device Design With Constant Jacobian Matrix and Net Weight Fully Balanced
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Topics: Design, Engineering prototypes, Force feedback, Gravity (Force), Jacobian matrices, Parallel mechanisms, Simulation, Weight (Mass)
Journal Articles

Cooperative Object Transport Via Non-Contact Prehensile Pushing by Magnetic Forces

Halil İbrahim Dokuyucu, Nurhan Gürsel Özmen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051004.
Paper No: JMR-24-1052
https://doi.org/10.1115/1.4066804
Published Online: November 1, 2024
View Articletitled, Cooperative Object Transport Via Non-Contact Prehensile Pushing by Magnetic Forces
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Topics: Magnetic fields, Robots, Control equipment, Simulation, Transportation systems, Wheels, Shapes
Journal Articles

Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot

Alberto Rigo, Muqun Hu, Junchao Ma, Satyandra K. Gupta, Quan Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051006.
Paper No: JMR-24-1144
https://doi.org/10.1115/1.4066852
Published Online: November 1, 2024
View Articletitled, Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot
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Topics: Control equipment, Design, Optimization, Quadruped robots, Robotics, Robots, Degrees of freedom, Manipulators, Doors, Weight (Mass)
Journal Articles

Push Recovery of a Biped in Different Stance Scenarios

Alinjar Dan, S. K. Saha, K. Rama Krishna, Amit Sawant, Gurman Singh Bhullar, Tarannum Perween
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031015.
Paper No: JMR-23-1394
https://doi.org/10.1115/1.4066443
Published Online: October 25, 2024
View Articletitled, Push Recovery of a Biped in Different Stance Scenarios
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Topics: Angular momentum, Control equipment, Hardware, Linear momentum, Momentum, Optimization, Robots, Stability, Impulse (Physics), Torque control
Journal Articles

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

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
Open the PDF for Modeling, Simulation, and Kinematic Validation of Transfemoral Prosthetic Mechanism With Ankle Varus–Valgus Characteristic in another window
Topics: Artificial limbs, Kinematics, Modeling, Optimization, Prostheses, Simulation, Knee
Journal Articles

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

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