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Journal Articles

Special Issue: Selected Papers from IDETC-CIE 2023

Accepted Manuscript
Dongming Gan, Ketao Zhang, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics.
Paper No: JMR-24-1565
https://doi.org/10.1115/1.4066792
Published Online: October 8, 2024
View Article titled, Special Issue: Selected Papers from IDETC-CIE 2023
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Topics: Computers, Computers and information in engineering , Design, Robotics, Robots
Journal Articles

Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced

Accepted Manuscript
Zhaopeng Jin, Yanzhi Zhao, Yajun Liu, Yu Shan, Yue Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1538
https://doi.org/10.1115/1.4066744
Published Online: September 30, 2024
View Article titled, Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced
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Topics: Design, Force feedback, Jacobian matrices, Weight (Mass), Errors, Robots, Transparency, Engineering prototypes, Feedback, Gravity (Force)
Journal Articles

A New Planar Overconstrained Mechanism Generated by Merging Two Symmetric Watt’s Six-Bar Linkages that Perform Gear-Like Motion

Cody Leeheng Chan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031011.
Paper No: JMR-24-1015
https://doi.org/10.1115/1.4066336
Published Online: September 20, 2024
View Article titled, A New Planar Overconstrained Mechanism Generated by Merging Two Symmetric Watt’s Six-Bar Linkages that Perform Gear-Like Motion
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Topics: Gears, Linkages, Design, Hinges, Errors
Journal Articles

Evolution Design of Multiple Metamorphic Mechanisms Inspired by the Concept of Assur Group

Yuan Gao, Xi Kang, Bing Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031013.
Paper No: JMR-24-1044
https://doi.org/10.1115/1.4066401
Published Online: September 20, 2024
View Article titled, Evolution Design of Multiple Metamorphic Mechanisms Inspired by the Concept of Assur Group
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Topics: Bifurcation, Construction, Design, Kinematics
Journal Articles

Design and Motion Planning of a Cable Robot Utilizing Cable Slackness

Accepted Manuscript
Nan Zhang, Long Teng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1763
https://doi.org/10.1115/1.4066551
Published Online: September 13, 2024
View Article titled, Design and Motion Planning of a Cable Robot Utilizing Cable Slackness
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Topics: Cables, Design, Path planning, Robots
Journal Articles

Modeling, Simulation and Kinematic Validation of Transfemoral Prosthetic Mechanism with Ankle Varus-Valgus Characteristic

Accepted Manuscript
Majun Song, Zhongyi Li, Hao Zheng, Weihai Chen, Sheng Guo, Lianzheng Niu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1788
https://doi.org/10.1115/1.4066552
Published Online: September 13, 2024
View Article titled, Modeling, Simulation and Kinematic Validation of Transfemoral Prosthetic Mechanism with Ankle Varus-Valgus Characteristic
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Topics: Artificial limbs, Kinematics, Modeling, Robots, Simulation, Prostheses, Errors, Optimization, Biomechanics, Bionics
Journal Articles

Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System

Accepted Manuscript
Justin L Sitler, Long Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1210
https://doi.org/10.1115/1.4066554
Published Online: September 13, 2024
View Article titled, Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System
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Topics: Design, Kinematics, Manipulators, Robots, Vehicles
Journal Articles

Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions

Rongfu Lin, Weizhong Guo, Wenhui Zeng, Kim Yan, Chun Ping Lam, Shing Shin Cheng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021010.
Paper No: JMR-24-1062
https://doi.org/10.1115/1.4066132
Published Online: September 3, 2024
View Article titled, Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions
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Topics: Design, Kinematics, End effectors, Jacobian matrices, Rotation, Screws, Engineering prototypes
Journal Articles

Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism

Xiaolu Zhao, Fujun Wang, Changping Tao, Beichao Shi, Zhichen Huo, Yanling Tian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031002.
Paper No: JMR-24-1102
https://doi.org/10.1115/1.4066135
Published Online: September 3, 2024
View Article titled, Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism
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Topics: Design, Kinematics, Robots, Surgery, Errors, Modeling
Journal Articles

Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance

Sen Xu, Kai Tang, Lingmin Xu, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031003.
Paper No: JMR-24-1141
https://doi.org/10.1115/1.4066136
Published Online: September 3, 2024
View Article titled, Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
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Topics: Calibration, Design, Exoskeleton devices, Modeling, Rods, Stiffness, Torque, Parallel mechanisms, Errors
Journal Articles

Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper

Yoshinobu Onozawa, Keisuke Yagi, Yoshikazu Mori
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021011.
Paper No: JMR-24-1201
https://doi.org/10.1115/1.4066133
Published Online: September 3, 2024
View Article titled, Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper
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Topics: Design, Springs, Synchronization, Torque, Rotation
Journal Articles

The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains

Vaughn Chambers, Bradley Hobbs, William Gaither, Zachary Thé, Anthony Zhou, Chrysostomos Karakasis, Panagiotis Artemiadis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031005.
Paper No: JMR-23-1825
https://doi.org/10.1115/1.4066173
Published Online: September 3, 2024
View Article titled, The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains
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Topics: Stiffness, Deflection, Belts, Design
Journal Articles

Special Issue: Mechanisms, Transmissions, and Applications

Med Amine Laribi, Carl A. Nelson, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics. September 2024, 16(9): 090201.
Paper No: JMR-24-1388
https://doi.org/10.1115/1.4066077
Published Online: August 7, 2024
View Article titled, Special Issue: Mechanisms, Transmissions, and Applications
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Topics: Design, Machinery, Robotics, Robots, Satellites, Screws, Sensitivity analysis, Stiffness
Journal Articles

Architecture Singularity Distance Computations for Linear Pentapods

Aditya Kapilavai, Georg Nawratil
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021008.
Paper No: JMR-24-1034
https://doi.org/10.1115/1.4065789
Published Online: July 23, 2024
View Article titled, Architecture Singularity Distance Computations for Linear Pentapods
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Topics: Design, Optimization, Computation, Manipulators, Robots, Algorithms
Journal Articles

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

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 Article titled, 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

Design of High-Performance Triple-Axis Cross Pivots

Simone Serafino, Luca Bruzzone, Pietro Fanghella, Matteo Verotti
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021004.
Paper No: JMR-24-1145
https://doi.org/10.1115/1.4065749
Published Online: July 19, 2024
View Article titled, Design of High-Performance Triple-Axis Cross Pivots
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Topics: Design, Finite element analysis, Stiffness, Stress, Bending (Stress), Rotation
Journal Articles

Design and Analysis of a New Deployable Articulated Mast Mechanism With Two-Dimensional Deploying-Folding Motion

Peng Cheng, Wen-ao Cao, Tianlong Wang, Guodong Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021005.
Paper No: JMR-23-1686
https://doi.org/10.1115/1.4065795
Published Online: July 19, 2024
View Article titled, Design and Analysis of a New Deployable Articulated Mast Mechanism With Two-Dimensional Deploying-Folding Motion
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Topics: Design, Kinematics, Linkages, Topology, Dynamics (Mechanics), Prisms (Optics), Engineering prototypes
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

Development of a 6-Degrees-of-Freedom Hybrid Interface Intended for Teleoperated Robotic Cervical Spine Surgery

Alizée Koszulinski, Juan Sandoval, Marc Arsicault, Med Amine Laribi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021007.
Paper No: JMR-24-1137
https://doi.org/10.1115/1.4065917
Published Online: July 19, 2024
View Article titled, Development of a 6-Degrees-of-Freedom Hybrid Interface Intended for Teleoperated Robotic Cervical Spine Surgery
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Topics: Cervical spine, Design, Drilling, Kinematics, Parallel mechanisms, Surgery, Robotics, Optimization, Force feedback, Motors
Journal Articles

Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases

Feng Wang, Fan Zhang, Guohua Cui
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011001.
Paper No: JMR-23-1751
https://doi.org/10.1115/1.4065461
Published Online: June 18, 2024
View Article titled, Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases
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Topics: Deformation, Rotation, Stiffness, Design, Linkages, Kinematics, Plates (structures)