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Journal Articles

Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors

Severino Hernandez, Nina Robson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081002.
Paper No: JMR-24-1435
https://doi.org/10.1115/1.4067873
Published Online: March 20, 2025
View Article titled, Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors
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Topics: Design, Trajectories (Physics), Knee, Kinematics, Linkages, Robots, Engineering prototypes
Journal Articles

Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot

Qingjun Wu, Bin Zi, Bo Hu, Yuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081003.
Paper No: JMR-24-1422
https://doi.org/10.1115/1.4068120
Published Online: March 20, 2025
View Article titled, Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot
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Topics: Cables, Kinematics, Robots, End effectors, Springs, Dynamics (Mechanics), Modeling
Journal Articles

Performance Analysis of a Hexagon Rolling Mechanism With Single Degree of Freedom

Qianqian Zhang, Yezhuo Li, Shaoze Yan, Yan-an Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081001.
Paper No: JMR-24-1625
https://doi.org/10.1115/1.4068020
Published Online: March 10, 2025
View Article titled, Performance Analysis of a Hexagon Rolling Mechanism With Single Degree of Freedom
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Topics: Design, Engineering prototypes, Simulation, Linkages
Journal Articles

Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

Milad Azizkhani, Junhyoung Ha, Anthony L. Gunderman, Yue Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071013.
Paper No: JMR-24-1405
https://doi.org/10.1115/1.4067753
Published Online: February 28, 2025
View Article titled, Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution
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Topics: Algorithms, Kinematics, Redundancy (Engineering), Resolution (Optics), Soft robots, Robots, Robotics, Simulation, Errors
Journal Articles

A Robust Algorithm for Solving Heterogeneous Systems of Equations Arising in Kinetostatics of Compliant Mechanisms

Hafez Tari
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071008.
Paper No: JMR-24-1607
https://doi.org/10.1115/1.4067752
Published Online: February 27, 2025
View Article titled, A Robust Algorithm for Solving Heterogeneous Systems of Equations Arising in Kinetostatics of Compliant Mechanisms
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Topics: Algorithms, Compliant mechanisms, Newton's method, Kinematics, Errors
Journal Articles

Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator

Kendall Koe, Samhita Marri, Benjamin Walt, Shivani Kamtikar, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071010.
Paper No: JMR-24-1069
https://doi.org/10.1115/1.4067872
Published Online: February 27, 2025
View Article titled, Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator
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Topics: Control equipment, Dynamics (Mechanics), End effectors, Errors, Manipulators, Stress, Trajectories (Physics), Optimization, Robotics, Architecture
Journal Articles

Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons

Yu Wang, Jian Li, Peng Liang, Riwei Ye
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071011.
Paper No: JMR-24-1474
https://doi.org/10.1115/1.4067874
Published Online: February 27, 2025
View Article titled, Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons
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Topics: Cables, Exoskeleton devices, Knee, Dynamics (Mechanics), Cycles, Stiffness, Displacement
Journal Articles

Error Propagation Analysis of Kinematic Quantities for Robots and Mechanisms

K. B. Cantún-Avila, R. Peón-Escalante, J. A. Montoya, F. Peñuñuri
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071009.
Paper No: JMR-24-1454
https://doi.org/10.1115/1.4067875
Published Online: February 27, 2025
View Article titled, Error Propagation Analysis of Kinematic Quantities for Robots and Mechanisms
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Topics: Errors, Kinematics
Journal Articles

Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots

Liu Peng, Xuechao Duan, Xinzhou Qiao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071012.
Paper No: JMR-24-1373
https://doi.org/10.1115/1.4067923
Published Online: February 27, 2025
View Article titled, Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots
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Topics: Cables, Robots, Stability, End effectors
Journal Articles

A Micro-Deformation Model of Parallel Manipulators in the Gravity Field

Chao Yang, Wenyong Yu, Fei Quan, Wei Ye, Yebo Lu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071007.
Paper No: JMR-24-1330
https://doi.org/10.1115/1.4067720
Published Online: February 26, 2025
View Article titled, A Micro-Deformation Model of Parallel Manipulators in the Gravity Field
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Topics: Deformation, Gravity (Force), Manipulators, Screws
Journal Articles

Uniform Stretch Behavior of Creased Units

Qian Zhang, Marco Meloni, Jian Feng, Jianguo Cai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071006.
Paper No: JMR-24-1307
https://doi.org/10.1115/1.4067623
Published Online: February 25, 2025
View Article titled, Uniform Stretch Behavior of Creased Units
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Topics: Deformation, Stiffness, Tension, Shapes, Geometry, Stress, Rotation, Design
Journal Articles

Stability Conditions and Stiffness Variability of General Tensegrity Systems With Kinematic Joints

Jiahui Luo, Longqing Ge, Xiaoming Xu, Xiaodong Liu, Ziwei Zhuang, Lulu Han, Zhigang Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071002.
Paper No: JMR-24-1150
https://doi.org/10.1115/1.4066745
Published Online: February 11, 2025
View Article titled, Stability Conditions and Stiffness Variability of General Tensegrity Systems With Kinematic Joints
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Topics: Stability, Stiffness, Tensegrity, Kinematics
Journal Articles

A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators

Matteo Verotti, Marco Morandini, Pierangelo Masarati
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071003.
Paper No: JMR-24-1543
https://doi.org/10.1115/1.4067626
Published Online: February 11, 2025
View Article titled, A Proportional Control Strategy for Stiffness Tuning of Parallel Manipulators
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Topics: End effectors, Manipulators, Stiffness, Displacement, Rotation, Friction
Journal Articles

Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators

Tong Liu, Xiaojie Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071004.
Paper No: JMR-24-1530
https://doi.org/10.1115/1.4067722
Published Online: February 11, 2025
View Article titled, Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators
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Topics: Actuators, Buckling, Deformation, Design, Shapes, Simulation, Design methodology
Journal Articles

Exact Solutions of the Mixed Motion and Path Synthesis Problem for Four-Bar Linkages

Rui Wu, Wenming Yang, Shaoping Bai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071005.
Paper No: JMR-24-1271
https://doi.org/10.1115/1.4067751
Published Online: February 11, 2025
View Article titled, Exact Solutions of the Mixed Motion and Path Synthesis Problem for Four-Bar Linkages
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Topics: Errors, Linkages, Design
Journal Articles

Fully Foldable Mechanical Metamaterials With Isotropic Auxeticity and Its Generated Multi-Mode Folding Form

Lin Li, Feiyu Yang, Fufu Yang, Rongfu Lin, Jun Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051013.
Paper No: JMR-24-1302
https://doi.org/10.1115/1.4067345
Published Online: February 10, 2025
View Article titled, Fully Foldable Mechanical Metamaterials With Isotropic Auxeticity and Its Generated Multi-Mode Folding Form
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Topics: Metamaterials
Journal Articles

Elastostatic Performance Evaluation of a Full-Mobility Parallel-Kinematics Machine With Flexible Links

Qi Sun, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051014.
Paper No: JMR-23-1529
https://doi.org/10.1115/1.4067621
Published Online: February 10, 2025
View Article titled, Elastostatic Performance Evaluation of a Full-Mobility Parallel-Kinematics Machine With Flexible Links
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Topics: Stiffness, Kinematics, Motors, Machinery
Journal Articles

Active Cables Selection for Collocated Vibration Control of Small-Sized Overconstrained Cable-Driven Parallel Robots

Thibault Garcia, Didier Rémond, Simon Chesné
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071001.
Paper No: JMR-24-1285
https://doi.org/10.1115/1.4067622
Published Online: February 10, 2025
View Article titled, Active Cables Selection for Collocated Vibration Control of Small-Sized Overconstrained Cable-Driven Parallel Robots
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Topics: Cables
Journal Articles

Design of Rolling Motion for Snake-Like Robots Using Center-of-Gravity Shift

Akio Yamano, Tsuyoshi Kimoto, Masakatsu Chiba
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061011.
Paper No: JMR-24-1225
https://doi.org/10.1115/1.4067307
Published Online: January 20, 2025
View Article titled, Design of Rolling Motion for Snake-Like Robots Using Center-of-Gravity Shift
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Topics: Design, Robots, Servomotors, Optimization, Time series, Energy consumption, Center of mass, Pareto optimization
Journal Articles

Cable Force Distribution and Motion Control for a Cable-Driven Super-Redundant Robot Under Stiffness Constraints

Guiben Tuo, Yongqing Wang, Te Li, Zhenye Shang, Xu Li, Haibo Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061012.
Paper No: JMR-24-1371
https://doi.org/10.1115/1.4067346
Published Online: January 20, 2025
View Article titled, Cable Force Distribution and Motion Control for a Cable-Driven Super-Redundant Robot Under Stiffness Constraints
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Topics: Cables, Robots, Stiffness, Motion control, Tension, Optimization