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Journal Articles

Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism

Hao Pan, Shujie Tang, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071015.
Paper No: JMR-23-1104
https://doi.org/10.1115/1.4063870
Published Online: November 14, 2023
View Article titled, Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism
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Topics: End effectors, Force control, Parallel mechanisms, Statics, Stiffness, Jacobian matrices, Simulation, Rods, Kinematics
Journal Articles

Design and Analysis of Bionic Continuum Robot With Helical Winding Grasping Function

Xiong Jiang, Shouzhong Li, Chong Ma, Xinyu Kuang, Wenlong Zhang, Hongzhe Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071013.
Paper No: JMR-23-1262
https://doi.org/10.1115/1.4063738
Published Online: November 14, 2023
View Article titled, Design and Analysis of Bionic Continuum Robot With Helical Winding Grasping Function
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Topics: Grasping, Robots, Winding (process), Stiffness, Design, Rotation, Cables
Journal Articles

Design, Performance Analysis, and Experiments of a Soft Robot for Rescue

Tao Wen, Junfeng Hu, Jun Zhang, Xian Li, Sheng Kang, Ning Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071011.
Paper No: JMR-23-1254
https://doi.org/10.1115/1.4063669
Published Online: October 20, 2023
View Article titled, Design, Performance Analysis, and Experiments of a Soft Robot for Rescue
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Topics: Design, Manipulators, Robots, Soft robots, Stiffness
Journal Articles

Locust-Inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability

Xiaojuan Mo, Wenjie Ge, Yifei Ren, Donglai Zhao, Dunwen Wei, Donato Romano
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061013.
Paper No: JMR-22-1560
https://doi.org/10.1115/1.4063406
Published Online: October 17, 2023
View Article titled, Locust-Inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability
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Topics: Design, Kinematics, Modeling, Optimization, Robots, Springs, Stability, Stiffness, Dynamic modeling, Dynamic stability
Includes: Supplementary data
Journal Articles

Toward Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves

Mahshid Mansouri, Elizabeth T. Hsiao-Wecksler, Girish Krishnan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. July 2024, 16(7): 074501.
Paper No: JMR-23-1066
https://doi.org/10.1115/1.4063573
Published Online: October 16, 2023
View Article titled, Toward Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves
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Topics: Design, Particulate matter, Transportation systems, Traveling waves, Wavelength, Waves, Stiffness, Actuators
Journal Articles

Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot

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 Article titled, 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

Design of a Novel Flexible Spherical Hinge and Its Application in Continuum Robot

Guoxin Li, Jingjun Yu, Jie Pan, Xu Pei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061012.
Paper No: JMR-23-1276
https://doi.org/10.1115/1.4063370
Published Online: October 4, 2023
View Article titled, Design of a Novel Flexible Spherical Hinge and Its Application in Continuum Robot
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Topics: Design, Robots, Stiffness, Chain, Deformation, End effectors, Isotropy
Journal Articles

Six-Bar Linkages With Compliant Mechanisms for Programmable Mechanical Structures

Michael Pieber, Johannes Gerstmayr
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061008.
Paper No: JMR-23-1221
https://doi.org/10.1115/1.4063168
Published Online: October 4, 2023
View Article titled, Six-Bar Linkages With Compliant Mechanisms for Programmable Mechanical Structures
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Topics: Bending (Stress), Compliant mechanisms, Errors, Finite element methods, Hinges, Linkages, Rotation, Stiffness, Mechanical structures, Torque
Journal Articles

Motion Performance Study of 2UPR-1RPS/2R Hybrid Robot Based on Kinematics, Dynamics, and Stiffness Modeling

Jing Li, NingHe Lu, NanYan Shen, ZeHui Ma, ZiQi Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061009.
Paper No: JMR-23-1232
https://doi.org/10.1115/1.4063169
Published Online: October 4, 2023
View Article titled, Motion Performance Study of 2UPR-1RPS/2R Hybrid Robot Based on Kinematics, Dynamics, and Stiffness Modeling
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Topics: Dynamics (Mechanics), Kinematics, Robots, Stiffness, Modeling, Algorithms
Journal Articles

A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces

Guillaume Jeanneau, Vincent Bégoc, Sébastien Briot
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041012.
Paper No: JMR-22-1535
https://doi.org/10.1115/1.4062946
Published Online: August 8, 2023
View Article titled, A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces
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Topics: Robots, Springs, Stiffness
Journal Articles

A Variable Stiffness Sole for Biped Robot and Its Experimental Verification

Junyeon Namgung, Yun-Ho Han, Baek-Kyu Cho
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054502.
Paper No: JMR-23-1179
https://doi.org/10.1115/1.4062650
Published Online: June 26, 2023
View Article titled, A Variable Stiffness Sole for Biped Robot and Its Experimental Verification
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Topics: Robots, Stiffness, Variable structure systems, Rubber, Humanoid robots, Shapes
Journal Articles

Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction

Bowen Zheng, Pengpeng Xu, Zhaoqi Guo, Longhan Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041009.
Paper No: JMR-22-1596
https://doi.org/10.1115/1.4062499
Published Online: June 9, 2023
View Article titled, Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction
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Topics: Deflection, Stiffness, Torque, Motors, Springs, Actuators, Torsion, Origami-inspired design
Journal Articles

Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces

Lingmin Xu, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051001.
Paper No: JMR-23-1010
https://doi.org/10.1115/1.4062607
Published Online: June 9, 2023
View Article titled, Design and Analysis of a Reconfigurable Hybrid Robot for Machining of Large Workpieces
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Topics: Kinematics, Machining, Manipulators, Robots, Design, Stiffness, Mechanical admittance, Optimization, Performance evaluation
Journal Articles

A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators

Ziying Lin, Lingmin Xu, Ye Ding, Xiangyang Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041016.
Paper No: JMR-22-1382
https://doi.org/10.1115/1.4062304
Published Online: May 2, 2023
View Article titled, A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators
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Topics: Design, Kinematics, Manipulators, Redundancy (Engineering), Stiffness, Actuators, Linkages, Mechanical admittance, Optimization
Journal Articles

Design and Validation of Symmetrical Elastic Elements in Series Elastic Actuator

Ruzhen Pei, Xibin Cao, Cheng Wei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061018.
Paper No: JMR-22-1411
https://doi.org/10.1115/1.4062274
Published Online: May 2, 2023
View Article titled, Design and Validation of Symmetrical Elastic Elements in Series Elastic Actuator
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Topics: Design, Shapes, Stiffness, Actuators, Fittings
Journal Articles

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Lorenzo Boffa, Anna Sesselmann, Máximo A. Roa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031011.
Paper No: JMR-22-1272
https://doi.org/10.1115/1.4062388
Published Online: May 2, 2023
View Article titled, Emerging Gaits for a Quadrupedal Template Model With Segmented Legs
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Topics: Dynamics (Mechanics), Knee, Limit cycles, Robots, Springs, Stability, Stiffness, Equations of motion, Eigenvalues, Elasticity
Journal Articles

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Vimalesh Muralidharan, Nicolas Testard, Christine Chevallereau, Anick Abourachid, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035002.
Paper No: JMR-22-1185
https://doi.org/10.1115/1.4062302
Published Online: April 27, 2023
View Article titled, Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck
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Topics: Cables, Manipulators, Stiffness, Equilibrium (Physics), Springs
Journal Articles

Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation

Justin Quan, Dennis Hong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031009.
Paper No: JMR-22-1267
https://doi.org/10.1115/1.4062150
Published Online: April 18, 2023
View Article titled, Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation
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Topics: End effectors, Kinematics, Mechanical admittance, Springs, Stress, Design, Shapes, Weight (Mass), Mobile robots, Engineering prototypes
Journal Articles

Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices

Shuangshuang Zhang, Linsong Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041001.
Paper No: JMR-22-1513
https://doi.org/10.1115/1.4062134
Published Online: April 12, 2023
View Article titled, Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices
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Topics: Deformation, Manipulators, Modeling, Stiffness, Stress, Parallel mechanisms, Kinematics
Journal Articles

Design and Implementation of a Synergy-Based Cable-Driven Humanoid Arm With Variable Stiffness

Hang Xiao, Jianyin Tang, Shengnan Lyu, Kun Xu, Xilun Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041002.
Paper No: JMR-22-1426
https://doi.org/10.1115/1.4062130
Published Online: April 12, 2023
View Article titled, Design and Implementation of a Synergy-Based Cable-Driven Humanoid Arm With Variable Stiffness
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Topics: Cables, Design, Stiffness, Dimensions