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Journal Articles

Analysis of Force Distribution and Motion Characteristic of Hybrid-Driven Tensegrity Parallel Mechanism

Wei Zhu, Xiaoyu Zhou, Yongjing Zhu, Zhilong Ma
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051007.
Paper No: JMR-24-1196
https://doi.org/10.1115/1.4066980
Published Online: November 6, 2024
View Article titled, Analysis of Force Distribution and Motion Characteristic of Hybrid-Driven Tensegrity Parallel Mechanism
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Topics: Cables, Equilibrium (Physics), Optimization, Parallel mechanisms, Tensegrity, Chain, Tension, Rods
Journal Articles

Analysis of Instantaneous Kinematic Properties Regarding the Shape of Robotic Mechanisms

Keisuke Arikawa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121013.
Paper No: JMR-23-1821
https://doi.org/10.1115/1.4065371
Published Online: May 21, 2024
View Article titled, Analysis of Instantaneous Kinematic Properties Regarding the Shape of Robotic Mechanisms
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Topics: Jacobian matrices, Kinematics, Shapes, Robotics, Kinematic analysis, Equilibrium (Physics)
Journal Articles

Analytical Modeling and Validation of New Prismatic Compliant Joints Based on Zero Poisson’s Ratio Lattice Structures

Mauricio Arredondo-Soto, Enrique Cuan-Urquizo, Alfonso Gómez-Espinosa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111008.
Paper No: JMR-23-1597
https://doi.org/10.1115/1.4065257
Published Online: May 10, 2024
View Article titled, Analytical Modeling and Validation of New Prismatic Compliant Joints Based on Zero Poisson’s Ratio Lattice Structures
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Topics: Compliant mechanisms, Design, Displacement, Equilibrium (Physics), Finite element analysis, Poisson ratio, Simulation, Stiffness, Theorems (Mathematics), Modeling
Journal Articles

Kinetostatic Analysis of a Spatial Cable-Actuated Variable Stiffness Joint

Isaac John, Santhakumar Mohan, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091003.
Paper No: JMR-23-1678
https://doi.org/10.1115/1.4064254
Published Online: February 1, 2024
View Article titled, Kinetostatic Analysis of a Spatial Cable-Actuated Variable Stiffness Joint
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Topics: Cables, Stiffness, Stability, Equilibrium (Physics), Screws, Robots, Mechanical admittance, Kinematics, Manipulators, Potential energy
Journal Articles

Static Stability of Planar Contacting Systems: Analytical Treatment in Euclidean Space

Alinjar Dan, K. Rama Krishna, S. K. Saha
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081009.
Paper No: JMR-23-1302
https://doi.org/10.1115/1.4064065
Published Online: December 11, 2023
View Article titled, Static Stability of Planar Contacting Systems: Analytical Treatment in Euclidean Space
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Topics: Equilibrium (Physics), Kinematics, Stability, Static stability
Journal Articles

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Vimalesh Muralidharan, Nicolas Testard, Christine Chevallereau, Anick Abourachid, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035002.
Paper No: JMR-22-1185
https://doi.org/10.1115/1.4062302
Published Online: April 27, 2023
View Article titled, Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck
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Topics: Cables, Manipulators, Stiffness, Equilibrium (Physics), Springs
Journal Articles

Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation

Carlos Saldarriaga, Imin Kao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051010.
Paper No: JMR-22-1144
https://doi.org/10.1115/1.4055966
Published Online: November 25, 2022
View Article titled, Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
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Topics: Equilibrium (Physics), Robots, Steady state, Damping, Dynamic response, Redundant manipulators, Stiffness, Displacement
Journal Articles

Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices

Anandaroop Lahiri, Phanisri P. Pratapa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051004.
Paper No: JMR-22-1305
https://doi.org/10.1115/1.4055742
Published Online: November 24, 2022
View Article titled, Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices
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Topics: Deformation, Degrees of freedom, Equilibrium (Physics), Stiffness, Modeling, Displacement
Journal Articles

Dynamic Modeling and Simulation of a Hybrid Robot

Nanyan Shen, Hengming Yuan, Jing Li, Zirui Wang, Ninghe Lu, Yushun Lu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011012.
Paper No: JMR-21-1588
https://doi.org/10.1115/1.4054322
Published Online: May 12, 2022
View Article titled, Dynamic Modeling and Simulation of a Hybrid Robot
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Topics: Kinematics, Parallel mechanisms, Robots, Simulation, Kinematic analysis, Equilibrium (Physics), Dynamic models, Inertia (Mechanics), Rotation, Design
Journal Articles

Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011011.
Paper No: JMR-20-1533
https://doi.org/10.1115/1.4051132
Published Online: July 21, 2021
View Article titled, Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
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Topics: Calibration, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Redundant manipulators, Robots, Engineering prototypes, Actuators
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

Static Balancing of Four-Bar Compliant Mechanisms With Torsion Springs by Exerting Negative Stiffness Using Linear Spring At the Instant Center of Rotation

Jorge A. Franco, Juan A. Gallego, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031010.
Paper No: JMR-20-1438
https://doi.org/10.1115/1.4050313
Published Online: March 15, 2021
View Article titled, Static Balancing of Four-Bar Compliant Mechanisms With Torsion Springs by Exerting Negative Stiffness Using Linear Spring At the Instant Center of Rotation
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Topics: Compliant mechanisms, Design, Linkages, Springs, Stiffness, Torsion, Rotation, Equilibrium (Physics)
Journal Articles

Balloon Locomotion for Extreme Terrain

Hari D. Nayar, Michael T. Pauken, Morgan L. Cable, Michael A. Hans, Manit Ginoya
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021001.
Paper No: JMR-20-1332
https://doi.org/10.1115/1.4049006
Published Online: January 18, 2021
View Article titled, Balloon Locomotion for Extreme Terrain
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Topics: Aerodynamics, Buoyancy, Cables, Fluid-dynamic forces, Instrumentation, Mechanical admittance, Simulation, Stability, Vehicles, Visualization
Journal Articles

Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014503.
Paper No: JMR-20-1117
https://doi.org/10.1115/1.4048258
Published Online: October 22, 2020
View Article titled, Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
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Topics: Actuators, Architecture, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Robots, Manufacturing, Springs
Journal Articles

Modal Control for Active Vibration Damping of Cable-Driven Parallel Robots

Loïc Cuvillon, Xavier Weber, Jacques Gangloff
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051004.
Paper No: JMR-19-1330
https://doi.org/10.1115/1.4046434
Published Online: March 9, 2020
View Article titled, Modal Control for Active Vibration Damping of Cable-Driven Parallel Robots
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Topics: Cables, Control equipment, Damping, Dynamics (Mechanics), End effectors, Gain scheduling, Robots, Trajectories (Physics), Vibration, Equilibrium (Physics)
Journal Articles

Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots

Tahir Rasheed, Philip Long, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031009.
Paper No: JMR-19-1155
https://doi.org/10.1115/1.4045423
Published Online: January 14, 2020
View Article titled, Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots
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Topics: Cables, Equilibrium (Physics), Tension, Robots
Journal Articles

A Fully Compliant Tristable Mechanism Employing Both Tensural and Compresural Segments

Guimin Chen, Qi Han, Kaifang Jin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011003.
Paper No: JMR-19-1023
https://doi.org/10.1115/1.4044736
Published Online: October 8, 2019
View Article titled, A Fully Compliant Tristable Mechanism Employing Both Tensural and Compresural Segments
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Topics: Compliant mechanisms, Deflection, Design, Engineering prototypes, Equilibrium (Physics), Stress, Modeling
Journal Articles

Multistable Morphing Mechanisms of Nonlinear Springs

Chrysoula Aza, Alberto Pirrera, Mark Schenk
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051014.
Paper No: JMR-19-1034
https://doi.org/10.1115/1.4044210
Published Online: August 5, 2019
View Article titled, Multistable Morphing Mechanisms of Nonlinear Springs
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Topics: Deformation, Displacement, Equilibrium (Physics), Stiffness, Stress, Trusses (Building), Springs, Composite materials, Compliant mechanisms, Strips
Journal Articles

Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration

Long Wang, Giuseppe Del Giudice, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051013.
Paper No: JMR-18-1255
https://doi.org/10.1115/1.4044162
Published Online: July 18, 2019
View Article titled, Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration
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Topics: Calibration, Equilibrium (Physics), Kinematics, Modeling, Robots, Errors
Journal Articles

Design of Translational and Rotational Bistable Actuators Based on Dielectric Elastomer

Nianfeng Wang, Chaoyu Cui, Bicheng Chen, Hao Guo, Xianmin Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041011.
Paper No: JMR-18-1295
https://doi.org/10.1115/1.4043602
Published Online: May 17, 2019
View Article titled, Design of Translational and Rotational Bistable Actuators Based on Dielectric Elastomer
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Topics: Actuators, Buckling, Deflection, Design, Elastomers, Equilibrium (Physics), Membranes, Deformation, Electrodes, Switches