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Journal Articles

Dynamic Manipulability for a Two-Link Manipulator Driven By Pneumatic Artificial Muscles and Passive Springs

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Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091006.
Paper No: JMR-24-1509
https://doi.org/10.1115/1.4068431
Published Online: May 7, 2025
View Articletitled, Dynamic Manipulability for a Two-Link Manipulator Driven By Pneumatic Artificial Muscles and Passive Springs
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Topics: Manipulators, Pneumatic artificial muscles, Springs, Trajectories (Physics), Dynamics (Mechanics), Stiffness, Optimization
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

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

Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors

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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

Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator

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Kendall Koe, Samhita Marri, Benjamin Walt, Shivani Kamtikar, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071010.
Paper No: JMR-24-1069
https://doi.org/10.1115/1.4067872
Published Online: February 27, 2025
View Articletitled, Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator
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Topics: Control equipment, Dynamics (Mechanics), End effectors, Errors, Manipulators, Stress, Trajectories (Physics), Optimization, Robotics, Architecture
Journal Articles

Kinematic Analysis and Trajectory Planning of Multi-Segment Continuum Manipulator

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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

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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

Motion Planning for Nonprehensile Object Manipulation Using Novel 5-Bar Linkage

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Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044508.
Paper No: JMR-24-1438
https://doi.org/10.1115/1.4066905
Published Online: November 18, 2024
View Articletitled, Motion Planning for Nonprehensile Object Manipulation Using Novel 5-Bar Linkage
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Topics: Kinematics, Robots, Path planning, Trajectories (Physics), Linkages
Journal Articles

Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System

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Justin Sitler, Long Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051001.
Paper No: JMR-24-1210
https://doi.org/10.1115/1.4066554
Published Online: November 1, 2024
View Articletitled, Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System
Open the PDF for Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System in another window
Topics: Kinematics, Manipulators, Vehicles, Robots, Redundancy (Engineering), Trajectories (Physics), Design, End effectors, Optimization, Resolution (Optics)
Journal Articles

Fast Kinematic Calibration of a Robotic Manipulator Through a Single Continuous Motion

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Sheng Jian, Hao Xiong, Anjia Wang, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031012.
Paper No: JMR-23-1745
https://doi.org/10.1115/1.4066400
Published Online: September 20, 2024
View Articletitled, Fast Kinematic Calibration of a Robotic Manipulator Through a Single Continuous Motion
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Topics: Calibration, Errors, Kinematics, Manipulators, Trajectories (Physics), Coordinate measuring machines
Journal Articles

A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots

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Jianyu Yang, Xuanting Li, Zhongqi Sheng, Xiaofeng Ma, Hui Shi, Hualong Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021009.
Paper No: JMR-23-1618
https://doi.org/10.1115/1.4066000
Published Online: August 8, 2024
View Articletitled, A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots
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Topics: Algorithms, Errors, Robots, Simulation, Kinematics, End effectors, Trajectories (Physics)
Journal Articles

Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing

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Chengleng Han, Lin Xu, Mohamed A. A. Abdelkareem, Jia Mi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021006.
Paper No: JMR-23-1606
https://doi.org/10.1115/1.4065891
Published Online: July 19, 2024
View Articletitled, Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing
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Topics: Chain, Cylinders, Design, Engines, Kinematics, Motors, Robots, Sliding mode control, Hydraulic cylinders, Trajectories (Physics)
Journal Articles

Towing an Object With a Rover

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Matteo Caruso, Nicholas Sesto Gorella, Paolo Gallina, Stefano Seriani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021001.
Paper No: JMR-23-1486
https://doi.org/10.1115/1.4065697
Published Online: July 19, 2024
View Articletitled, Towing an Object With a Rover
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Topics: Dynamics (Mechanics), Friction, Kinematics, Path planning, Pressure, Sensitivity analysis, Simulation, Trajectories (Physics), Geometry, Wheels
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

Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach

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André Gallant, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091008.
Paper No: JMR-23-1455
https://doi.org/10.1115/1.4064570
Published Online: February 27, 2024
View Articletitled, Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach
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Topics: Design, Kinematics, Manipulators, Optimization, Trajectories (Physics)
Journal Articles

Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation

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Ravinder Kumar, T. A. Dwarakanath, Gaurav Bhutani, S. K. Sinha
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101005.
Paper No: JMR-23-1445
https://doi.org/10.1115/1.4064485
Published Online: February 5, 2024
View Articletitled, Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation
Open the PDF for Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation in another window
Topics: Algorithms, Computation, Kinematics, Trajectories (Physics), Robots, Manipulators
Journal Articles

Safe Trajectory Generation for Wheel-Leg Hybrid Mechanism Using Discrete Mechanics and Optimal Control

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Yiqun Li, Jiahui Gao, Kai Chen, Wei Chen, Zhouping Yin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061014.
Paper No: JMR-23-1243
https://doi.org/10.1115/1.4063871
Published Online: November 14, 2023
View Articletitled, Safe Trajectory Generation for Wheel-Leg Hybrid Mechanism Using Discrete Mechanics and Optimal Control
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Topics: Collisions (Physics), Optimization, Robots, Trajectories (Physics), Wheels, Stairs, D'Alembert's principle
Journal Articles

Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism

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Yangyang Huang, Jinzhu Zhang, Xiaoyan Xiong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071012.
Paper No: JMR-23-1351
https://doi.org/10.1115/1.4063670
Published Online: November 14, 2023
View Articletitled, Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism
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Topics: Dynamic modeling, Dynamic models, Dynamics (Mechanics), Inertia (Mechanics), Manipulators, Performance evaluation, Pulse width modulation, Trajectories (Physics), Kinematics, Engineering prototypes
Journal Articles

Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation

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Sajeeva Abeywardena, Eisa Anwar, Stuart Charles Miller, Ildar Farkhatdinov
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061007.
Paper No: JMR-23-1039
https://doi.org/10.1115/1.4063094
Published Online: August 31, 2023
View Articletitled, Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation
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Topics: Kinematics, Robotics, Simulation, Torque, Trajectories (Physics), Inertia (Mechanics), Design, Dynamics (Mechanics), Actuators, Displacement
Includes: Supplementary data
Journal Articles

High Precision Trajectory Learning Method Based Improved Dynamic Movement Primitives for Robot Skill Learning

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Bin Zhai, Enzheng Zhang, Bingchen Li, Xiujun Fang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061001.
Paper No: JMR-23-1119
https://doi.org/10.1115/1.4062985
Published Online: August 16, 2023
View Articletitled, High Precision Trajectory Learning Method Based Improved Dynamic Movement Primitives for Robot Skill Learning
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Topics: Robots, Trajectories (Physics), Shapes