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Journal Articles

Nonlinear Design of a General Single-Translation Constraint and the Resulting General Spherical Joint

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Jiaxiang Zhu, Shiyao Li, Guangbo Hao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2025, 147(10): 103301.
Paper No: MD-24-1592
https://doi.org/10.1115/1.4068101
Published Online: March 20, 2025
View Articletitled, Nonlinear Design of a General Single-Translation Constraint and the Resulting General Spherical Joint
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Topics: Design, Displacement, Finite element analysis, Geometry, Rotation, Engineering prototypes, Modeling, Errors, Stress, Manufacturing
Journal Articles

DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation

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Alberto Parmiggiani, Emilio Ottonello, Seyyed Masoud Kargar, Mario Baggetta, Guangbo Hao, Giovanni Berselli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111011.
Paper No: JMR-23-1682
https://doi.org/10.1115/1.4065780
Published Online: July 22, 2024
View Articletitled, DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation
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Topics: Additive manufacturing, Design, Robots, Stiffness, Errors, Stress, End effectors, Simulation
Journal Articles

A Synthesis Approach of XYZ Compliant Parallel Mechanisms Toward Motion Decoupling With Isotropic Property and Simplified Manufacturing

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Chuyang Leng, Guangbo Hao, Xiaoze Ren, Changsheng Wang, Yanming Li, Yuanzhao Zhang, Haiyang Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2024, 146(11): 113303.
Paper No: MD-24-1056
https://doi.org/10.1115/1.4065460
Published Online: June 3, 2024
View Articletitled, A Synthesis Approach of XYZ Compliant Parallel Mechanisms Toward Motion Decoupling With Isotropic Property and Simplified Manufacturing
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Topics: Algebra, Compliant mechanisms, Constraint equations, Design, Isotropy, Manufacturing, Parallel mechanisms, Topology, Rotation
Journal Articles

Design and Analysis of Leaf Beam Single-Translation Constraint Compliant Modules and the Resulting Spherical Joints

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Guangbo Hao, Xiuyun He, Jiaxiang Zhu, Haiyang Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2024, 146(8): 083301.
Paper No: MD-23-1745
https://doi.org/10.1115/1.4064415
Published Online: February 1, 2024
View Articletitled, Design and Analysis of Leaf Beam Single-Translation Constraint Compliant Modules and the Resulting Spherical Joints
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Topics: Design, Rotation, Shapes, Wire, Stiffness
Journal Articles

Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints

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Siyuan Ye, Pengyuan Zhao, Shiyao Li, Fatemeh Kavousi, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091005.
Paper No: JMR-23-1456
https://doi.org/10.1115/1.4064368
Published Online: February 1, 2024
View Articletitled, Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints
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Topics: Design, Displacement, Finite element analysis, Modeling, Stress, Manufacturing, Stiffness, Additive manufacturing
Proceedings Papers

DeltaFlex: An Additively Manufactured Monolithic Delta Robot With Compliant Joints

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Alberto Parmiggiani, Emilio Ottonello, Seyyed Masoud Kargar, Mario Baggetta, Guangbo Hao, Giovanni Berselli
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A031, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114914
https://doi.org/10.1115/DETC2023-114914
View Paper titled, DeltaFlex: An Additively Manufactured Monolithic Delta Robot With Compliant Joints
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Topics: Additive manufacturing, Robots, Design, Architecture, Stiffness, Accuracy and precision, Cycles, Engineering prototypes, Engineering simulation, Finite element methods
Proceedings Papers

Design and Virtual Prototyping of a Constant Force Gripper for Food Handling and Harvesting

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Mario Baggetta, Guangbo Hao, Giovanni Berselli
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A024, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116587
https://doi.org/10.1115/DETC2023-116587
View Paper titled, Design and Virtual Prototyping of a Constant Force Gripper for Food Handling and Harvesting
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Topics: Design, Food products, Grippers
Journal Articles

Special Issue: Selected Papers From IDETC-CIE 2022

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Guangbo Hao, Guimin Chen, Dongming Gan, Abbas Fattah, Carl Nelson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. January 2024, 16(1): 010301.
Paper No: JMR-23-1303
https://doi.org/10.1115/1.4062671
Published Online: July 3, 2023
View Articletitled, Special Issue: Selected Papers From IDETC-CIE 2022
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Topics: Design, Robotics, Computers and information in engineering , Computers, Dynamics (Mechanics), Engineering teachers, Kinematics, Robots
Journal Articles

A Single-Fidelity Surrogate Modeling Method Based on Nonlinearity Integrated Multi-Fidelity Surrogate

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Kunpeng Li, Xiwang He, Liye Lv, Jiaxiang Zhu, Guangbo Hao, Haiyang Li, Xueguan Song
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2023, 145(9): 091705.
Paper No: MD-22-1637
https://doi.org/10.1115/1.4062665
Published Online: June 26, 2023
View Articletitled, A Single-Fidelity Surrogate Modeling Method Based on Nonlinearity Integrated Multi-Fidelity Surrogate
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Topics: Displacement, Errors, Manipulators, Metamodeling, Mirrors, Modeling, Stability, Stress, Digital twin, Robustness
Proceedings Papers

Framework Design of a Digital Twin of an XY Compliant Parallel Manipulator Based on Non-Negative Matrix Factorization

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Xueguan Song, Kunpeng Li, Shuo Wang, Ziyun Kan, Haiyang Li, Jiaxiang Zhu, Guangbo Hao
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A023, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89187
https://doi.org/10.1115/DETC2022-89187
View Paper titled, Framework Design of a Digital Twin of an XY Compliant Parallel Manipulator Based on Non-Negative Matrix Factorization
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Topics: Compliant mechanisms, Design, Digital twin, Manipulators
Proceedings Papers

Design and Nonlinear Analysis of an Overconstraint Based Constant Amplification Ratio Compliant Mechanism

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Jiaxiang Zhu, Guangbo Hao, Tinghao Liu, Haiyang Li
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A005, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89555
https://doi.org/10.1115/DETC2022-89555
View Paper titled, Design and Nonlinear Analysis of an Overconstraint Based Constant Amplification Ratio Compliant Mechanism
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Topics: Compliant mechanisms, Design
Proceedings Papers

Design of a Single-Input Morphing Compliant Mechanism With Separate Gripping and Retraction Modes

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Patrick McGowan, Guangbo Hao
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A016, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90939
https://doi.org/10.1115/DETC2022-90939
View Paper titled, Design of a Single-Input Morphing Compliant Mechanism With Separate Gripping and Retraction Modes
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Topics: Compliant mechanisms, Design, Displacement, Finite element analysis, Computer software, Deformation, End effectors, Grippers, Rigid-body mechanisms, Robotics
Journal Articles

Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation

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Patrick McGowan, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2023, 15(1): 015002.
Paper No: JMR-21-1763
https://doi.org/10.1115/1.4054551
Published Online: June 6, 2022
View Articletitled, Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation
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Topics: Compliant mechanisms, Design, Displacement, Grippers, Optimization, Simulation
Journal Articles

Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains

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T. H. Fass, Guangbo Hao, Pádraig Cantillon-Murphy
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060911.
Paper No: JMR-21-1674
https://doi.org/10.1115/1.4054311
Published Online: June 6, 2022
View Articletitled, Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains
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Topics: Chain, Dynamics (Mechanics), Computation, Algorithms
Journal Articles

A Compact Mirror-Symmetrical XY Compliant Parallel Manipulator for Minimizing Parasitic Rotations

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Jiaxiang Zhu, Guangbo Hao, Shiyao Li, Xianwen Kong
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2022, 144(7): 073303.
Paper No: MD-21-1583
https://doi.org/10.1115/1.4053818
Published Online: March 24, 2022
View Articletitled, A Compact Mirror-Symmetrical XY Compliant Parallel Manipulator for Minimizing Parasitic Rotations
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Topics: Design, Errors, Finite element analysis, Manipulators, Mirrors, Rotation, Stiffness, Displacement, Actuators, Stress
Journal Articles

Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots

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Shiyao Li, Guangbo Hao, Yingyue Chen, Jiaxiang Zhu, Giovanni Berselli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031007.
Paper No: JMR-21-1275
https://doi.org/10.1115/1.4052514
Published Online: November 18, 2021
View Articletitled, Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots
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Topics: Design, Rotation, Springs, Stress, Stiffness, Finite element analysis
Proceedings Papers

Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots

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Shiyao Li, Guangbo Hao, Yingyue Chen, Jiaxiang Zhu, Giovanni Berselli
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A011, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69028
https://doi.org/10.1115/DETC2021-69028
View Paper titled, Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots
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Topics: Springs, Stress
Proceedings Papers

A Mirror-Symmetrical XY Compliant Parallel Manipulator With Improved Performances Without Increasing the Footprint

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Jiaxiang Zhu, Guangbo Hao, Shiyao Li, Shuwen Yu, Xianwen Kong
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A012, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69032
https://doi.org/10.1115/DETC2021-69032
View Paper titled, A Mirror-Symmetrical XY Compliant Parallel Manipulator With Improved Performances Without Increasing the Footprint
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Topics: Manipulators, Mirrors, Stiffness, Symmetry (Physics), Design, Finite element analysis, Rotation, Actuators, Compliant mechanisms, Performance characterization
Journal Articles

Call for Papers for the Special Issue: Selected Papers From IDETC-CIE 2021

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Chin-Hsing Kuo, Just Herder, Leila Notash, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Announcements
J. Mechanisms Robotics. June 2021, 13(3): 038001.
Paper No: JMR-21-1100
https://doi.org/10.1115/1.4050467
Published Online: April 22, 2021
View Articletitled, Call for Papers for the Special Issue: Selected Papers From IDETC-CIE 2021
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Topics: Design, Robotics
Journal Articles

Kinetostatic Modeling and Optimization of a Novel Horizontal-Displacement Compliant Mechanism

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Kejia Kong, Guimin Chen, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2019, 11(6): 064502.
Paper No: JMR-19-1014
https://doi.org/10.1115/1.4044334
Published Online: October 8, 2019
View Articletitled, Kinetostatic Modeling and Optimization of a Novel Horizontal-Displacement Compliant Mechanism
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Topics: Compliant mechanisms, Displacement, Modeling, Optimization, Stress, Design, Engineering prototypes, Deflection