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Journal Articles

An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss

Zhengyu Wang, Zirui Jia, Sen Qian, Daoming Wang, Xiang Yu, Xuchang Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071006.
Paper No: JMR-23-1116
https://doi.org/10.1115/1.4063454
Published Online: October 16, 2023
View Article titled, An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss
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Topics: Cables, Cantilever beams, Deflection, Robots, Tension
Journal Articles

Modeling Method for Static Large Deflection Problem of Curved Planar Beams in Compliant Mechanisms Based on a Novel Governing Equation

Jingyu Jiang, Song Lin, Hanchao Wang, Niels Modler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031014.
Paper No: JMR-23-1187
https://doi.org/10.1115/1.4062916
Published Online: August 8, 2023
View Article titled, Modeling Method for Static Large Deflection Problem of Curved Planar Beams in Compliant Mechanisms Based on a Novel Governing Equation
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Topics: Compliant mechanisms, Modeling, Shapes, Stress, Deflection, Boundary-value problems, Geometry
Journal Articles

Conceptual Design of a Novel Particle-Based Soft Grasping Gripper

Qianyi Chen, Dingena Schott, Jovana Jovanova
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051004.
Paper No: JMR-22-1578
https://doi.org/10.1115/1.4062647
Published Online: June 26, 2023
View Article titled, Conceptual Design of a Novel Particle-Based Soft Grasping Gripper
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Topics: Actuators, Grippers, Membranes, Particulate matter, Shrinkage (Materials), Design, Grasping, Deflection, Conceptual design, Deformation
Journal Articles

Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction

Bowen Zheng, Pengpeng Xu, Zhaoqi Guo, Longhan Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041009.
Paper No: JMR-22-1596
https://doi.org/10.1115/1.4062499
Published Online: June 9, 2023
View Article titled, Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction
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Topics: Deflection, Stiffness, Torque, Motors, Springs, Actuators, Torsion, Origami-inspired design
Journal Articles

Approach for Identifying Cartesian Stiffness of a 5-Degree-of-Freedom Hybrid Robot for Machining

Wei Yue, Haitao Liu, Guangxi Li, Ke Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031009.
Paper No: JMR-22-1180
https://doi.org/10.1115/1.4057071
Published Online: March 28, 2023
View Article titled, Approach for Identifying Cartesian Stiffness of a 5-Degree-of-Freedom Hybrid Robot for Machining
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Topics: Robots, Stiffness, Deflection, Regression models, Design, Parameter estimation
Journal Articles

Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms

Ke Wu, Gang Zheng, Guimin Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061012.
Paper No: JMR-22-1269
https://doi.org/10.1115/1.4056501
Published Online: January 23, 2023
View Article titled, Extending Timoshenko Beam Theory for Large Deflections in Compliant Mechanisms
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Topics: Compliant mechanisms, Deflection, Modeling, Timoshenko beam theory, Shear (Mechanics)
Journal Articles

An Analytical Stress–Deflection Model for Fixed-Clamped Flexures Using a Pseudo-Rigid-Body Approach

Connor Huxman, Jared Butler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061010.
Paper No: JMR-22-1408
https://doi.org/10.1115/1.4056381
Published Online: January 18, 2023
View Article titled, An Analytical Stress–Deflection Model for Fixed-Clamped Flexures Using a Pseudo-Rigid-Body Approach
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Topics: Bending (Stress), Deflection, Stress, Finite element analysis
Journal Articles

The Mixed-Body Model: A Method for Predicting Large Deflections in Stepped Cantilever Beams

Brandon S. Sargent, Collin R. Ynchausti, Todd G. Nelson, Larry L. Howell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041001.
Paper No: JMR-21-1473
https://doi.org/10.1115/1.4053376
Published Online: February 18, 2022
View Article titled, The Mixed-Body Model: A Method for Predicting Large Deflections in Stepped Cantilever Beams
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Topics: Deflection, Finite element analysis, Stress, Cantilever beams, Errors
Journal Articles

Stiffness Compensation Through Matching Buckling Loads in a Compliant Four-Bar Mechanism

A. Numić, T.W.A. Blad, F. van Keulen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021007.
Paper No: JMR-21-1137
https://doi.org/10.1115/1.4052333
Published Online: September 21, 2021
View Article titled, Stiffness Compensation Through Matching Buckling Loads in a Compliant Four-Bar Mechanism
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Topics: Buckling, Deflection, Linkages, Stiffness, Stress, Architecture, Finite element analysis, Springs, Displacement
Journal Articles

Elastostatic Modeling of Multi-Link Flexible Manipulator Based on Two-Dimensional Dual-Triangle Tensegrity Mechanism

Wanda Zhao, Anatol Pashkevich, Alexandr Klimchik, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021002.
Paper No: JMR-21-1190
https://doi.org/10.1115/1.4051789
Published Online: September 20, 2021
View Article titled, Elastostatic Modeling of Multi-Link Flexible Manipulator Based on Two-Dimensional Dual-Triangle Tensegrity Mechanism
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Topics: Buckling, Flexible manipulators, Manipulators, Shapes, Stiffness, Tensegrity mechanisms, Modeling, Deflection
Journal Articles

Deployable Euler Spiral Connectors

Collin Ynchausti, Nathan Brown, Spencer P. Magleby, Anton E. Bowden, Larry L. Howell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021003.
Paper No: JMR-20-1474
https://doi.org/10.1115/1.4052319
Published Online: September 20, 2021
View Article titled, Deployable Euler Spiral Connectors
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Topics: Bending (Stress), Deflection, Design, Finite element analysis, Spinal fusion, Stress, Compliant mechanisms, Approximation
Journal Articles

Kinetostatic Modeling of Planar Compliant Mechanisms With Flexible Beams, Linear Sliders, Multinary Rigid Links, and Multiple Loops

I-Ting Chi, Pei-Lun Chang, Ngoc Dang Khoa Tran, Dung-An Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 051002.
Paper No: JMR-20-1323
https://doi.org/10.1115/1.4050196
Published Online: May 19, 2021
View Article titled, Kinetostatic Modeling of Planar Compliant Mechanisms With Flexible Beams, Linear Sliders, Multinary Rigid Links, and Multiple Loops
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Topics: Compliant mechanisms, Displacement, Equilibrium (Physics), Finite element analysis, Grippers, Modeling, Stress, Deflection, Design
Journal Articles

Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms

Kendall Seymour, Pietro Bilancia, Spencer Magleby, Larry Howell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031002.
Paper No: JMR-20-1382
https://doi.org/10.1115/1.4049439
Published Online: March 15, 2021
View Article titled, Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms
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Topics: Cylinders, Deflection, Finite element analysis, Hinges, Membranes, Modeling, Nickel titanium alloys, Stiffness, Surgery, Cantilever beams
Journal Articles

Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator

Ryan Moore, Joseph M. Schimmels
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031001.
Paper No: JMR-20-1437
https://doi.org/10.1115/1.4050104
Published Online: March 12, 2021
View Article titled, Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator
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Topics: Actuators, Cables, Deflection, Design, Pulleys, Springs, Stiffness, Testing, Motors
Journal Articles

Modeling Large Spatial Deflections of Slender Beams of Rectangular Cross Sections in Compliant Mechanisms

Ruiyu Bai, Guimin Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011021.
Paper No: JMR-20-1091
https://doi.org/10.1115/1.4048753
Published Online: November 19, 2020
View Article titled, Modeling Large Spatial Deflections of Slender Beams of Rectangular Cross Sections in Compliant Mechanisms
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Topics: Compliant mechanisms, Deflection, Modeling, Stress
Journal Articles

A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study

Theodosia Lourdes Thomas, Venkatasubramanian Kalpathy Venkiteswaran, G. K. Ananthasuresh, Sarthak Misra
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061006.
Paper No: JMR-19-1401
https://doi.org/10.1115/1.4046838
Published Online: May 12, 2020
View Article titled, A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study
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Topics: Design, Manipulators, Stress, Deflection, Magnetic fields
Journal Articles

Workspace-Based Design of Equivalent Compression Spring Legs for a 3-DoF Translational Tensegrity Robot

Marc Arsenault
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041004.
Paper No: JMR-19-1374
https://doi.org/10.1115/1.4045724
Published Online: March 6, 2020
View Article titled, Workspace-Based Design of Equivalent Compression Spring Legs for a 3-DoF Translational Tensegrity Robot
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Topics: Compression, Deflection, Design, Robots, Springs, Cables, Tensegrity
Journal Articles

Analytical Study of the Snap-Through and Bistability of Beams With Arbitrarily Initial Shape

Hussein Hussein, Mohammad I. Younis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041001.
Paper No: JMR-19-1327
https://doi.org/10.1115/1.4045844
Published Online: February 28, 2020
View Article titled, Analytical Study of the Snap-Through and Bistability of Beams With Arbitrarily Initial Shape
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Topics: Buckling, Deflection, Shapes, Stiffness
Journal Articles

Needle-Size Bending Actuators Based on Controlled Nitinol Curvatures and Elastic Structures

Manivannan Sivaperuman Kalairaj, Bok Seng Yeow, Chwee Ming Lim, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031015.
Paper No: JMR-19-1028
https://doi.org/10.1115/1.4045646
Published Online: February 18, 2020
View Article titled, Needle-Size Bending Actuators Based on Controlled Nitinol Curvatures and Elastic Structures
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Topics: Actuators, Deflection, Engineering prototypes, Nickel titanium alloys, Springs, Wire, Additive manufacturing, Manipulators, Temperature
Includes: Supplementary data
Journal Articles

Deflection Maps of Planar Elastic Catenary Cable-Driven Robots

Leila Notash
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021103.
Paper No: JMR-19-1406
https://doi.org/10.1115/1.4045935
Published Online: February 3, 2020
View Article titled, Deflection Maps of Planar Elastic Catenary Cable-Driven Robots
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Topics: Cables, Deflection, Robots