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Journal Articles

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

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 Article titled, 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

A Kinematic Synthesis Methodology for P-Drivable Spatial Single Degree-of-Freedom Mechanisms to Avoid Singularities

Mohammad Z. Khan, Jian Liu, David H. Myszka, Andrew P. Murray
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111007.
Paper No: JMR-23-1680
https://doi.org/10.1115/1.4065237
Published Online: April 23, 2024
View Article titled, A Kinematic Synthesis Methodology for P-Drivable Spatial Single Degree-of-Freedom Mechanisms to Avoid Singularities
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Topics: Chain, Degrees of freedom, Kinematics
Journal Articles

Design of a Novel Flexible Spherical Hinge and Its Application in Continuum Robot

Guoxin Li, Jingjun Yu, Jie Pan, Xu Pei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061012.
Paper No: JMR-23-1276
https://doi.org/10.1115/1.4063370
Published Online: October 4, 2023
View Article titled, Design of a Novel Flexible Spherical Hinge and Its Application in Continuum Robot
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Topics: Design, Robots, Stiffness, Chain, Deformation, End effectors, Isotropy
Journal Articles

Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints

Hasiaoqier Han, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031015.
Paper No: JMR-23-1118
https://doi.org/10.1115/1.4062984
Published Online: August 8, 2023
View Article titled, Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints
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Topics: Dynamics (Mechanics), Kinematics, Machinery, Chain, Simulation
Journal Articles

Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism

Wei Zhu, Zhu Xu, Zhiyuan Ma, Huiping Shen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021010.
Paper No: JMR-22-1654
https://doi.org/10.1115/1.4062149
Published Online: April 12, 2023
View Article titled, Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism
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Topics: Chain, Design, Dynamics (Mechanics), Kinematics, Optimization, Parallel mechanisms, Performance evaluation, Rotation, Kinematic analysis
Journal Articles

Graphic Transfer Matrix Method for Kinetostatic and Dynamic Analyses of Compliant Mechanisms

Lei Yuan, Mingxiang Ling, Jianhao Lai, Hai Li, Xianmin Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021009.
Paper No: JMR-22-1220
https://doi.org/10.1115/1.4056827
Published Online: March 8, 2023
View Article titled, Graphic Transfer Matrix Method for Kinetostatic and Dynamic Analyses of Compliant Mechanisms
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Topics: Bending (Stress), Chain, Compliant mechanisms, Displacement, Hinges, Modeling, Stiffness
Journal Articles

Three 2-DOF 1T1R and One 3-DOF 2T1R Full-Hinged Novel Parallel Mechanisms With Zero Coupling Degree and Motion Decoupling: Design and Analysis

Ju Li, Hongbo He, Guanglei Wu, Tao Li, Huiping Shen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031003.
Paper No: JMR-22-1474
https://doi.org/10.1115/1.4056875
Published Online: March 8, 2023
View Article titled, Three 2-DOF 1T1R and One 3-DOF 2T1R Full-Hinged Novel Parallel Mechanisms With Zero Coupling Degree and Motion Decoupling: Design and Analysis
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Topics: Chain, Design, Kinematics, Parallel mechanisms, Rotation, Topology
Journal Articles

Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot

Zhou Zhou, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051009.
Paper No: JMR-22-1136
https://doi.org/10.1115/1.4055965
Published Online: November 24, 2022
View Article titled, Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot
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Topics: Kinematics, Robots, Design, Chain, Jacobian matrices
Journal Articles

Design and Control of SLPM-Based Extensible Continuum Arm

Zheming Zhuang, Ze Zhang, Yuntao Guan, Wei Wei, Mi Li, Zhao Tang, Rongjie Kang, Zhibin Song, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061003.
Paper No: JMR-21-1741
https://doi.org/10.1115/1.4054996
Published Online: September 12, 2022
View Article titled, Design and Control of SLPM-Based Extensible Continuum Arm
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Topics: Control systems, Design, Engineering prototypes, Parallel mechanisms, Robots, Simulation, Springs, Cables, Stiffness, Screws
Journal Articles

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

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 Article titled, 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

Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion

Nina Robson, Bin Yun Chen, Jong-Seob Won, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011004.
Paper No: JMR-21-1432
https://doi.org/10.1115/1.4054168
Published Online: April 25, 2022
View Article titled, Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion
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Topics: Design, Grasping, Chain, Physiology, Kinematics
Journal Articles

Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions

Kai Liu, Jingjun Yu, Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021009.
Paper No: JMR-21-1166
https://doi.org/10.1115/1.4052338
Published Online: September 21, 2021
View Article titled, Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions
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Topics: Algebra, Polynomials, Chain, Kinematics
Journal Articles

Design, Synthesis, and Experiment of Foot-Driven Lower Limb Rehabilitation Mechanisms

Chennan Yu, Jun Ye, Jiangming Jia, Xiong Zhao, Zhiwei Chen, Jianneng Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021001.
Paper No: JMR-21-1024
https://doi.org/10.1115/1.4051788
Published Online: September 20, 2021
View Article titled, Design, Synthesis, and Experiment of Foot-Driven Lower Limb Rehabilitation Mechanisms
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Topics: Chain, Design, Gears, Linkages, Optimization, Engineering prototypes
Journal Articles

Design of a Novel Parallel Mechanism for Haptic Device

Lixing Jin, Xingguang Duan, Changsheng Li, Qingxin Shi, Hao Wen, Jin Wang, Haoyuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2021, 13(4): 045001.
Paper No: JMR-20-1500
https://doi.org/10.1115/1.4050562
Published Online: May 26, 2021
View Article titled, Design of a Novel Parallel Mechanism for Haptic Device
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Topics: Design, Grasping, Haptics, Kinematics, Optimization, Rotation, Chain, Parallel mechanisms, Force feedback, Engineering prototypes
Journal Articles

Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study

Francisco Yandun, Miguel Torres-Torriti, Fernando Auat Cheein
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050902.
Paper No: JMR-21-1027
https://doi.org/10.1115/1.4051016
Published Online: May 17, 2021
View Article titled, Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study
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Topics: Algorithms, Calibration, Chain, Errors, Kinematics, Mobile robots, Parameter estimation, Robot motion, Robots, Sensors
Journal Articles

Kinematic Analysis and Optimal Design of a Novel Schönflies-Motion Parallel Manipulator With Rotational Pitch Motion for Assembly Operations

Xiansheng Yang, Zhilong Zhao, Hao Xiong, Qinchuan Li, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040910.
Paper No: JMR-20-1627
https://doi.org/10.1115/1.4050812
Published Online: April 22, 2021
View Article titled, Kinematic Analysis and Optimal Design of a Novel Schönflies-Motion Parallel Manipulator With Rotational Pitch Motion for Assembly Operations
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Topics: Design, Engineering prototypes, Kinematics, Manipulators, Manufacturing, Optimization, Scanning probe microscopy, Kinematic analysis, Actuators, Rotation
Journal Articles

RATS: A Robotic Arm Training System Designed for Rats

Haohan Zhang, Tatiana Luna, Lillian Yang, John Martin, Sunil Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031018.
Paper No: JMR-20-1411
https://doi.org/10.1115/1.4049804
Published Online: March 15, 2021
View Article titled, RATS: A Robotic Arm Training System Designed for Rats
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Topics: Design, Kinematics, Robotics, Robots, Chain, Parallel mechanisms, End effectors
Journal Articles

A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE (3) and Its Subspaces

A. J. Sánchez-García, J. M. Rico, J. J. Cervantes-Sánchez, P. C. López-Custodio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031015.
Paper No: JMR-20-1458
https://doi.org/10.1115/1.4050096
Published Online: March 15, 2021
View Article titled, A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE (3) and Its Subspaces
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Topics: Kinematics, Mechanical admittance, Screws, Lie algebras, Chain, Jacobian matrices
Journal Articles

Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms

Revanth Damerla, Shorya Awtar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035001.
Paper No: JMR-20-1393
https://doi.org/10.1115/1.4049947
Published Online: March 12, 2021
View Article titled, Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms
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Topics: Chain, Kinematics, Space, Stress, Yaw, End effectors, Rotation, Bearings, Arches
Journal Articles

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

Sven Lilge, Kathrin Nuelle, Georg Boettcher, Svenja Spindeldreier, Jessica Burgner-Kahrs
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011025.
Paper No: JMR-20-1163
https://doi.org/10.1115/1.4049058
Published Online: December 10, 2020
View Article titled, Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis
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Topics: Design, Kinematics, Robots, Chain, Tendons