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Journal Articles

Kinematic Modeling and Workspace Analysis of a Cable-Driven Parallel Robot Considering Environmental Collisions

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Wei Wang, Jiahao Zhao, Yuan Li, Bin Zi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091011.
Paper No: JMR-25-1074
https://doi.org/10.1115/1.4068530
Published Online: May 7, 2025
View Articletitled, Kinematic Modeling and Workspace Analysis of a Cable-Driven Parallel Robot Considering Environmental Collisions
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Topics: Cables, Collisions (Physics), Kinematics, Robots, Cylinders
Journal Articles

Motion Analysis and Orientation Holding Control of a 3-RRR Rigid-Flexible Coupling Mechanism for Photovoltaic Panel Assembly

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Sen Qian, Guohua Song, Bin Zi
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2025, 147(10): 103302.
Paper No: MD-24-1593
https://doi.org/10.1115/1.4068102
Published Online: March 20, 2025
View Articletitled, Motion Analysis and Orientation Holding Control of a 3-RRR Rigid-Flexible Coupling Mechanism for Photovoltaic Panel Assembly
Open the PDF for Motion Analysis and Orientation Holding Control of a 3-RRR Rigid-Flexible Coupling Mechanism for Photovoltaic Panel Assembly in another window
Topics: Kinematics, Manufacturing, Photovoltaic panels, Robots, Simulation, Cables, Errors, Signals, Parallel mechanisms
Journal Articles

Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot

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Qingjun Wu, Bin Zi, Bo Hu, Yuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081003.
Paper No: JMR-24-1422
https://doi.org/10.1115/1.4068120
Published Online: March 20, 2025
View Articletitled, Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot
Open the PDF for Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot in another window
Topics: Cables, Kinematics, Robots, End effectors, Springs, Dynamics (Mechanics), Modeling
Journal Articles

Dynamic Modeling, Uncertainty Analysis, and Experimental Study of a New Cable-Driven Parallel Robot With Interval Variables

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Bin Zhou, Sipan Li, Zhiyuan Wang, Bing Chen, Bin Zi
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083301.
Paper No: MD-24-1463
https://doi.org/10.1115/1.4067712
Published Online: February 25, 2025
View Articletitled, Dynamic Modeling, Uncertainty Analysis, and Experimental Study of a New Cable-Driven Parallel Robot With Interval Variables
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Topics: Cables, Dynamic modeling, Dynamic response, Errors, Polynomials, Robots, Uncertainty analysis, Kinematics, Thrust, Equilibrium (Physics)
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

Design and Optimization of a Cable-Driven Parallel Polishing Robot With Kinematic Error Modeling

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Bin Zhou, Shuainan Wu, Bin Zi, Weidong Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2025, 147(1): 013304.
Paper No: MD-24-1117
https://doi.org/10.1115/1.4065915
Published Online: August 21, 2024
View Articletitled, Design and Optimization of a Cable-Driven Parallel Polishing Robot With Kinematic Error Modeling
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Topics: Cables, Errors, Kinematics, Robots, Modeling, Pareto optimization, Stiffness, Polishing, Design, Optimization
Journal Articles

Development and Validation of Robotic Ankle Exoskeleton With Parallel Nonlinear Elastic Actuator

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Bing Chen, Chenpu Shi, Bin Zi, Ling Qin, Qingsong Xu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2024, 146(11): 113304.
Paper No: MD-23-1760
https://doi.org/10.1115/1.4065561
Published Online: June 3, 2024
View Articletitled, Development and Validation of Robotic Ankle Exoskeleton With Parallel Nonlinear Elastic Actuator
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Topics: Actuators, Design, Exoskeleton devices, Robotics, Springs, Torque, Weight (Mass), Engines, Motors, Control equipment
Journal Articles

Development and Dynamic State Estimation for Robotic Knee–Ankle Orthosis With Shape Memory Alloy Actuators

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Zhi Sun, Yuan Li, Bin Zi, Bing Chen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2024, 146(1): 013302.
Paper No: MD-23-1300
https://doi.org/10.1115/1.4063565
Published Online: October 20, 2023
View Articletitled, Development and Dynamic State Estimation for Robotic Knee–Ankle Orthosis With Shape Memory Alloy Actuators
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Topics: Actuators, Knee, Orthotics, Torque, Robotics, Shape memory alloys, Rotation, Errors
Journal Articles

Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks

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Bing Chen, Xiang Ni, Bin Zi, Qingsong Xu, Jun Qian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071007.
Paper No: JMR-23-1199
https://doi.org/10.1115/1.4063455
Published Online: October 16, 2023
View Articletitled, Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks
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Topics: Exoskeleton devices, Muscle, Design, Stress, Torque, Cables
Journal Articles

Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm

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Bin Zhou, Sipan Li, Bin Zi, Bing Chen, Weidong Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2023, 145(8): 083301.
Paper No: MD-22-1730
https://doi.org/10.1115/1.4062458
Published Online: May 22, 2023
View Articletitled, Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm
Open the PDF for Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm in another window
Topics: Algorithms, Cables, Design, End effectors, Inertia (Mechanics), Particle swarm optimization, Weight (Mass), Kinematics, Robots, Optimization
Journal Articles

Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms

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Zhengyu Wang, Shiyang Bao, Bin Zi, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031011.
Paper No: JMR-22-1584
https://doi.org/10.1115/1.4057075
Published Online: March 28, 2023
View Articletitled, Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
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Topics: Cables, Endoscopic devices, Kinematics, Robots, Design, Surgery, Lenses (Optics), Calibration
Journal Articles

Design, Modeling, and Evaluation of a Hybrid Driven Knee-Ankle Orthosis With Shape Memory Alloy Actuators

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Zhi Sun, Yuan Li, Bin Zi, Bing Chen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2023, 145(6): 063301.
Paper No: MD-22-1595
https://doi.org/10.1115/1.4056692
Published Online: February 10, 2023
View Articletitled, Design, Modeling, and Evaluation of a Hybrid Driven Knee-Ankle Orthosis With Shape Memory Alloy Actuators
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Topics: Actuators, Knee, Shape memory alloys, Springs, Orthotics
Journal Articles

Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint

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Bing Chen, Chenpu Shi, Chengwang Zheng, Bin Zi, Ping Zhao, Yuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051007.
Paper No: JMR-22-1333
https://doi.org/10.1115/1.4055936
Published Online: November 24, 2022
View Articletitled, Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint
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Topics: Exoskeleton devices, Knee, Cycles, Recycling
Journal Articles

Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model

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Jun Gao, Bin Zhou, Bin Zi, Sen Qian, Ping Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051008.
Paper No: JMR-21-1352
https://doi.org/10.1115/1.4053219
Published Online: February 21, 2022
View Articletitled, Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model
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Topics: Cables, Errors, Kinematics, Pulleys, Uncertainty, Uncertainty analysis, Robots
Journal Articles

Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy

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Bing Chen, Bin Zi, Bin Zhou, Zhengyu Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051001.
Paper No: JMR-21-1294
https://doi.org/10.1115/1.4053218
Published Online: February 18, 2022
View Articletitled, Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy
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Topics: Control equipment, Orthotics, Robotics, Torque
Journal Articles

Evidence-Theory-Based Kinematic Uncertainty Analysis of a Dual Crane System With Epistemic Uncertainty

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Bin Zhou, Bin Zi, Yishan Zeng, Weidong Zhu
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. April 2022, 22(2): 021004.
Paper No: JCISE-21-1074
https://doi.org/10.1115/1.4052005
Published Online: October 13, 2021
View Articletitled, Evidence-Theory-Based Kinematic Uncertainty Analysis of a Dual Crane System With Epistemic Uncertainty
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Topics: Cranes, Errors, Kinematics, Uncertainty, Uncertainty quantification, Uncertainty analysis, Equilibrium (Physics)
Journal Articles

Static Response Analysis of a Dual Crane System Using Fuzzy Parameters

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Bin Zhou, Bin Zi, Weidong Zhu
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. December 2021, 21(6): 061006.
Paper No: JCISE-20-1186
https://doi.org/10.1115/1.4050618
Published Online: May 13, 2021
View Articletitled, Static Response Analysis of a Dual Crane System Using Fuzzy Parameters
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Topics: Cranes
Journal Articles

Hybrid Compound Function/Subinterval Perturbation Method for Kinematic Analysis of a Dual-Crane System With Large Bounded Uncertainty

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Bin Zhou, Bin Zi, Yuan Li, Weidong Zhu
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Technical Briefs
J. Comput. Nonlinear Dynam. January 2021, 16(1): 014501.
Paper No: CND-20-1236
https://doi.org/10.1115/1.4048363
Published Online: October 29, 2020
View Articletitled, Hybrid Compound Function/Subinterval Perturbation Method for Kinematic Analysis of a Dual-Crane System With Large Bounded Uncertainty
Open the PDF for Hybrid Compound Function/Subinterval Perturbation Method for Kinematic Analysis of a Dual-Crane System With Large Bounded Uncertainty in another window
Topics: Cranes, Uncertainty, Kinematics, Kinematic analysis
Journal Articles

Cable Angle and Minimum Resultant Force Response Analysis of Lower Limb Traction Device for Rehabilitation Robot With Interval Parameters

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Yuan Li, Bin Zi, Bin Zhou, Ping Zhao, Q.J. Ge
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. April 2021, 21(2): 021002.
Paper No: JCISE-20-1008
https://doi.org/10.1115/1.4048126
Published Online: September 28, 2020
View Articletitled, Cable Angle and Minimum Resultant Force Response Analysis of Lower Limb Traction Device for Rehabilitation Robot With Interval Parameters
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Topics: Cables, Robots, Traction, Kinematics
Journal Articles

Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake

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Bing Chen, Bin Zi, Zhengyu Wang, Yuan Li, Jun Qian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011002.
Paper No: JMR-20-1141
https://doi.org/10.1115/1.4047987
Published Online: August 17, 2020
View Articletitled, Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake
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Topics: Brakes, Orthotics, Robotics, Torque, Rheology, Engines, Motors, Actuators, Braking, Seas