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Journal Articles

On the Climbing Ability of Passively Suspended Tracked Robots

Available to Purchase
Giulio Reina, Giacomo Mantriota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. July 2025, 17(7): 075001.
Paper No: JMR-24-1370
https://doi.org/10.1115/1.4067624
Published Online: February 24, 2025
View Articletitled, On the Climbing Ability of Passively Suspended Tracked Robots
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Topics: Robots, Wheels, Negotiation
Journal Articles

Design and Analysis of a Mobile Robot With Transformable Wheel-Legged Mechanism

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Haibo Li, Zijian Xie, Yu Cao, Rong Zhang, Jianjun Qin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061015.
Paper No: JMR-24-1372
https://doi.org/10.1115/1.4067482
Published Online: January 20, 2025
View Articletitled, Design and Analysis of a Mobile Robot With Transformable Wheel-Legged Mechanism
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Topics: Robots, Wheels, Deformation, Design, Mobile robots
Journal Articles

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

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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

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

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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

An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability

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Prashanth Nagaraja, Sudheer Reddy Joharapuram, Bindusagar Malenahalli Ganesh, Basavaraj Herai Matt, Nikhil Umesh, Kiran Madrahalli Chidanandamurthy
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2025, 17(2): 025001.
Paper No: JMR-24-1020
https://doi.org/10.1115/1.4065796
Published Online: August 8, 2024
View Articletitled, An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability
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Topics: Robots, Wheels, Mobile robots, Actuators
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

Design and Analysis of a Lunar Crewed Vehicle With a Novel Versatile Compliant Suspension Mechanism

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Haibo Gao, Runze Yuan, Zhen Liu, Renchao Lu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121002.
Paper No: JMR-23-1651
https://doi.org/10.1115/1.4064814
Published Online: March 29, 2024
View Articletitled, Design and Analysis of a Lunar Crewed Vehicle With a Novel Versatile Compliant Suspension Mechanism
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Topics: Design, Vehicles, Wheels
Journal Articles

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

Available to Purchase
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
Journal Articles

Design and Reconfiguration Analysis of the Trunk Mechanism for a Reconfigurable Wheeled Mobile Platform

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Xinyu Teng, Yezhuo Li, Yang Liu, Yan-an Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054505.
Paper No: JMR-23-1738
https://doi.org/10.1115/1.4064740
Published Online: March 19, 2024
View Articletitled, Design and Reconfiguration Analysis of the Trunk Mechanism for a Reconfigurable Wheeled Mobile Platform
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Topics: Design, Engineering prototypes, Mobile robots, Screws, Simulation analysis, Motors, Wheels, Simulation, Space, Constraint equations
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

Kinetic Analysis of Active Omni Wheel With Barrel-Shaped Rollers for Avoiding Slippage and Vibration

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Siying Long, Tatsuro Terakawa, Mahiro Yogou, Rintaro Koyano, Masaharu Komori
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051002.
Paper No: JMR-23-1080
https://doi.org/10.1115/1.4062608
Published Online: June 9, 2023
View Articletitled, Kinetic Analysis of Active Omni Wheel With Barrel-Shaped Rollers for Avoiding Slippage and Vibration
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Topics: Rollers, Wheels, Vibration, Rubber, Simulation results
Journal Articles

A Novel Transformable Leg-Wheel Mechanism

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Zhong Wei, Peng Ping, Yong Luo, Jia Liu, Dapeng Chen, Weixi Wang, Huiyu Sun, Aiguo Song, Guangming Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031008.
Paper No: JMR-22-1164
https://doi.org/10.1115/1.4057069
Published Online: March 28, 2023
View Articletitled, A Novel Transformable Leg-Wheel Mechanism
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Topics: Design, Knee, Simulation, Trajectories (Physics), Wheels, Legged locomotion, Robots, Kinematics, Actuators, Modeling
Journal Articles

Self-Adaptive Obstacle Crossing of an AntiBot From Reconfiguration Control and Mechanical Adaptation

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Zhen Song, Zirong Luo, Guowu Wei, Jianzhong Shang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021002.
Paper No: JMR-22-1311
https://doi.org/10.1115/1.4056601
Published Online: March 3, 2023
View Articletitled, Self-Adaptive Obstacle Crossing of an AntiBot From Reconfiguration Control and Mechanical Adaptation
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Topics: Robots, Wheels
Journal Articles

WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability

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Luca Bruzzone, Shahab Edin Nodehi, Dario De Domenico, Pietro Fanghella
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021007.
Paper No: JMR-22-1232
https://doi.org/10.1115/1.4056770
Published Online: March 3, 2023
View Articletitled, WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability
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Topics: Robots, Wheels, Stability, Stairs
Journal Articles

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

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Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011002.
Paper No: JMR-22-1436
https://doi.org/10.1115/1.4056711
Published Online: March 3, 2023
View Articletitled, “On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion
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Topics: Design, Robots, Wheels, Torque, Kinematics
Journal Articles

A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot

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Wenqian Du, Mohamed Fnadi, Faïz Benamar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041005.
Paper No: JMR-22-1146
https://doi.org/10.1115/1.4055060
Published Online: November 10, 2022
View Articletitled, A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot
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Topics: Control equipment, Dynamics (Mechanics), Generators, Robots, Torque, Wheels, Kinematics, Surface roughness, Geometry
Journal Articles

Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase

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Chenyang Zhang, Guangrong Chen, Zijia Li, Xiaohang Qiu, Sheng Guo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2023, 15(2): 024501.
Paper No: JMR-21-1681
https://doi.org/10.1115/1.4054616
Published Online: June 21, 2022
View Articletitled, Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase
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Topics: Vehicles, Wheelbase, Design, Wheels, Steering wheels, Simulation, Kinematics
Journal Articles

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions

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Dongming Gan, Jiaming Fu, Han Lin, Haoguang Yang, Mo Rastgaar, Byung-Cheol Min, Richard Voyles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041005.
Paper No: JMR-21-1535
https://doi.org/10.1115/1.4053821
Published Online: March 24, 2022
View Articletitled, Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Mobile robots, Robots, Wheels, Actuators, Rotation, Parallel mechanisms
Journal Articles

A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms

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Zhen Song, Zirong Luo, Guowu Wei, Jianzhong Shang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051010.
Paper No: JMR-21-1482
https://doi.org/10.1115/1.4053529
Published Online: March 4, 2022
View Articletitled, A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms
Open the PDF for A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms in another window
Topics: Robots, Wheels, Mobile robots
Journal Articles

Cosimulation and Control of a Single-Wheel Pendulum Mobile Robot

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Mario E. Herrera-Cordero, Manuel Arias-Montiel, Marco Ceccarelli, Esther Lugo-Gonzalez
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050909.
Paper No: JMR-21-1128
https://doi.org/10.1115/1.4051359
Published Online: July 6, 2021
View Articletitled, Cosimulation and Control of a Single-Wheel Pendulum Mobile Robot
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Topics: Design, Engineering prototypes, Mobile robots, Pendulums, Robots, Wheels, Transfer functions, Torque, Dynamics (Mechanics)