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Journal Articles

T 1 -Positions of Four-Bar Linkages

Tanya Chugh, K. Rama Krishna
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2025, 17(5): 054501.
Paper No: JMR-24-1037
https://doi.org/10.1115/1.4067168
Published Online: December 12, 2024
View Article titled, T 1 -Positions of Four-Bar Linkages
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Topics: Circuits, Linkages
Journal Articles

Path Generative Model Based on Conditional β -Variational Auto Encoder for Four-Bar Mechanism Design

Anar Nurizada, Zhijie Lyu, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061004.
Paper No: JMR-24-1110
https://doi.org/10.1115/1.4067169
Published Online: December 12, 2024
View Article titled, Path Generative Model Based on Conditional β -Variational Auto Encoder for Four-Bar Mechanism Design
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Topics: Artificial neural networks, Design, Kinematics, Linkages, Machine learning, Algorithms, Performance
Journal Articles

Full Forward Solution of Large Deflection, End Loaded Cantilever Beams Using Elliptic Integrals

Brian D. Jensen, Jared Erickson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061005.
Paper No: JMR-24-1272
https://doi.org/10.1115/1.4067170
Published Online: December 12, 2024
View Article titled, Full Forward Solution of Large Deflection, End Loaded Cantilever Beams Using Elliptic Integrals
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Topics: Deflection, Stress, Algorithms, Shapes, Compliant mechanisms, Design
Journal Articles

Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy

Lingmin Xu, Wei Ye, Qinchuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061007.
Paper No: JMR-23-1761
https://doi.org/10.1115/1.4067228
Published Online: December 12, 2024
View Article titled, Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy
Open the PDF for Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy in another window
Topics: Evaluation methods, Manipulators, Reactor protection systems, Redundancy (Engineering), Screws, Robots, Kinematics, Universal joints, Stress
Journal Articles

Kinematic Analysis and Trajectory Planning of Multi-Segment Continuum Manipulator

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 Article titled, Kinematic Analysis and Trajectory Planning of Multi-Segment Continuum Manipulator
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Topics: Kinematics, Manipulators, Trajectories (Physics), Simulation, Actuators, Algorithms
Journal Articles

Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra

Yu Xiao, Lingmin Xu, Guochang Zheng, Qinchuan Li, Xinxue Chai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061006.
Paper No: JMR-24-1461
https://doi.org/10.1115/1.4067230
Published Online: December 12, 2024
View Article titled, Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra
Open the PDF for Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra in another window
Topics: Algebra, Blades, Kinematics, Screws, Polynomials
Journal Articles

Design of an Underactuated, Flexure-Based Gripper, Actuated Through a Push–Pull Flexure

Koen Dwarshuis, Jan de Jong, Dannis Brouwer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061009.
Paper No: JMR-24-1252
https://doi.org/10.1115/1.4067265
Published Online: December 12, 2024
View Article titled, Design of an Underactuated, Flexure-Based Gripper, Actuated Through a Push–Pull Flexure
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Topics: Bending (Stress), Design, Grippers, Hinges
Includes: Supplementary data
Journal Articles

Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation

Lihong Zhu, Can Cui, Dong Zhang, Jiamin Tan, Changxing Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061010.
Paper No: JMR-23-1792
https://doi.org/10.1115/1.4067305
Published Online: December 12, 2024
View Article titled, Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation
Open the PDF for Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation in another window
Topics: Cables, Exoskeleton devices, Pulleys, Design
Image
General model of an m -DOF NOPM

General model of an m -DOF NOPM

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 1 General model of an m -DOF NOPM More about this image found in General model of an m -DOF NOPM
Image
Flowchart for the motion/force constrainability evaluation of the NOPM

Flowchart for the motion/force constrainability evaluation of the NOPM

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 2 Flowchart for the motion/force constrainability evaluation of the NOPM More about this image found in Flowchart for the motion/force constrainability evaluation of the NOPM
Image
CAD model of a 2PRS-PSR PM

CAD model of a 2PRS-PSR PM

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 3 CAD model of a 2PRS-PSR PM More about this image found in CAD model of a 2PRS-PSR PM
Image
Motion/force constraint performance of the 2PRS-PSR PM: ( a ) ICI, ( b ) OC...

Motion/force constraint performance of the 2PRS-PSR PM: ( a ) ICI, ( b ) OC...

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 4 Motion/force constraint performance of the 2PRS-PSR PM: ( a ) ICI, ( b ) OCI, and ( c ) LCOI More about this image found in Motion/force constraint performance of the 2PRS-PSR PM: ( a ) ICI, ( b ) OC...
Image
Substitution of S and U kinematic joints

Substitution of S and U kinematic joints

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 5 Substitution of S and U kinematic joints More about this image found in Substitution of S and U kinematic joints
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CAD models of five NOPMs: ( a ) PRS-PRU-PSR PM, ( b ) 2PRS-PUR PM, ( c ) PR...

CAD models of five NOPMs: ( a ) PRS-PRU-PSR PM, ( b ) 2PRS-PUR PM, ( c ) PR...

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 6 CAD models of five NOPMs: ( a ) PRS-PRU-PSR PM, ( b ) 2PRS-PUR PM, ( c ) PRS-PRU-PUR PM, ( d ) 2PRU-PSR PM, and ( e ) 2PRU-PUR PM More about this image found in CAD models of five NOPMs: ( a ) PRS-PRU-PSR PM, ( b ) 2PRS-PUR PM, ( c ) PR...
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Motion/force constraint performance of five NOPMs: ( a ) ICI, OCI, and LCOI...

Motion/force constraint performance of five NOPMs: ( a ) ICI, OCI, and LCOI...

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 7 Motion/force constraint performance of five NOPMs: ( a ) ICI, OCI, and LCOI of PRS-PRU-PSR PM and 2PRS-PUR PM, ( b ) ICI, OCI, and LCOI of PRS-PRU-PUR PM and 2PRU-PSR PM, and ( c ) ICI, OCI, and LCOI of 2PRU-PUR PM More about this image found in Motion/force constraint performance of five NOPMs: ( a ) ICI, OCI, and LCOI...
Image
CAD model of a 2SPR-RPS PM

CAD model of a 2SPR-RPS PM

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 8 CAD model of a 2SPR-RPS PM More about this image found in CAD model of a 2SPR-RPS PM
Image
Motion/force constraint performance of the 2SPR-RPS PM: ( a ) ICI, ( b ) OC...

Motion/force constraint performance of the 2SPR-RPS PM: ( a ) ICI, ( b ) OC...

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 9 Motion/force constraint performance of the 2SPR-RPS PM: ( a ) ICI, ( b ) OCI, and ( c ) LCOI More about this image found in Motion/force constraint performance of the 2SPR-RPS PM: ( a ) ICI, ( b ) OC...
Image
CAD models of five NOPMs: ( a ) SPR-UPR-RPS PM, ( b ) 2SPR-RPU PM, ( c ) SP...

CAD models of five NOPMs: ( a ) SPR-UPR-RPS PM, ( b ) 2SPR-RPU PM, ( c ) SP...

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 10 CAD models of five NOPMs: ( a ) SPR-UPR-RPS PM, ( b ) 2SPR-RPU PM, ( c ) SPR-UPR-RPU PM, ( d ) 2UPR-RPS PM, and ( e ) 2UPR-RPU PM More about this image found in CAD models of five NOPMs: ( a ) SPR-UPR-RPS PM, ( b ) 2SPR-RPU PM, ( c ) SP...
Image
Motion/force constraint performance of five NOPMs: ( a ) ICI, OCI, and LCOI...

Motion/force constraint performance of five NOPMs: ( a ) ICI, OCI, and LCOI...

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 11 Motion/force constraint performance of five NOPMs: ( a ) ICI, OCI, and LCOI of SPR-UPR-RPS PM and 2SPR-RPU PM, ( b ) ICI, OCI, and LCOI of SPR-UPR-RPU PM and 2UPR-RPS PM, and ( c ) ICI, OCI, and LCOI of 2UPR-RPU PM More about this image found in Motion/force constraint performance of five NOPMs: ( a ) ICI, OCI, and LCOI...
Image
Motion/force constraint performance for five NOPMs of 2SPR-RPS PM: ( a ) IC...

Motion/force constraint performance for five NOPMs of 2SPR-RPS PM: ( a ) IC...

in Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy > Journal of Mechanisms and Robotics
Published Online: December 12, 2024
Fig. 12 Motion/force constraint performance for five NOPMs of 2SPR-RPS PM: ( a ) ICI, ( b ) OCI, and ( c ) LCOI More about this image found in Motion/force constraint performance for five NOPMs of 2SPR-RPS PM: ( a ) IC...