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Journal Articles

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

Accepted Manuscript
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.
Paper No: JMR-24-1150
https://doi.org/10.1115/1.4066745
Published Online: September 30, 2024
View Article titled, Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints
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Topics: Kinematics, Stability, Stiffness, Tensegrity, Cables, Computer programming, Modeling, Stress, Tension
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

Towing an Object With a Rover

Matteo Caruso, Nicholas Sesto Gorella, Paolo Gallina, Stefano Seriani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021001.
Paper No: JMR-23-1486
https://doi.org/10.1115/1.4065697
Published Online: July 19, 2024
View Article titled, Towing an Object With a Rover
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Topics: Dynamics (Mechanics), Friction, Kinematics, Path planning, Pressure, Sensitivity analysis, Simulation, Trajectories (Physics), Geometry, Wheels
Journal Articles

Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots

A. Ghoul, S. Djeffal, H. Wang, K. Kara, M. L. Hadjili
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021002.
Paper No: JMR-23-1749
https://doi.org/10.1115/1.4065698
Published Online: July 19, 2024
View Article titled, Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots
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Topics: Cables, Robots, Control equipment, Dynamic models, Kinematics
Journal Articles

Reconfiguration and Performance Evaluation of TBot Cable-Driven Parallel Robot

Jinhao Duan, Hanqing Liu, Zhaokun Zhang, Zhufeng Shao, Xiangjun Meng, Jingang Lv, Minjian Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010909.
Paper No: JMR-23-1578
https://doi.org/10.1115/1.4065680
Published Online: June 18, 2024
View Article titled, Reconfiguration and Performance Evaluation of TBot Cable-Driven Parallel Robot
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Topics: Cables, Performance evaluation, Robots
Journal Articles

A Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace

Foroogh Behroozi, Ramin Mersi, Antoine Benoist, Ru Ying Yong, Philippe Cardou, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010905.
Paper No: JMR-23-1582
https://doi.org/10.1115/1.4065393
Published Online: June 17, 2024
View Article titled, A Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace
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Topics: Actuators, Cables, Robots, Pulleys
Journal Articles

An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations

Michele Angelini, Edoardo Ida’, Daniele Bertin, Enrico Mantovani, Davide Bazzi, Vincenzo Orassi, Marco Carricato
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010906.
Paper No: JMR-23-1601
https://doi.org/10.1115/1.4065394
Published Online: June 17, 2024
View Article titled, An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations
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Topics: Cables, Control equipment, Robots, Simulation, Vessels
Journal Articles

Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots

Felix Trautwein, David Dietrich, Andreas Pott, Alexander Verl
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010908.
Paper No: JMR-23-1708
https://doi.org/10.1115/1.4065642
Published Online: June 17, 2024
View Article titled, Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots
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Topics: Cables, Robots, Stability, Topology, Kinematics, Modeling, Algorithms
Journal Articles

Coactivation in Symmetric Four-Bar Mechanisms Antagonistically Actuated by Cables

Vimalesh Muralidharan, Christine Chevallereau, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010902.
Paper No: JMR-23-1570
https://doi.org/10.1115/1.4064981
Published Online: June 7, 2024
View Article titled, Coactivation in Symmetric Four-Bar Mechanisms Antagonistically Actuated by Cables
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Topics: Cables, Stiffness
Journal Articles

Cable Path Analysis and Kinematic Control of a Cable-Driven Parallel Robot Allowing Cables to Wrap on Cylinders or Spheres

Hao Xiong, Yuchen Xu, Yuanjie Yu, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010903.
Paper No: JMR-23-1583
https://doi.org/10.1115/1.4064982
Published Online: June 7, 2024
View Article titled, Cable Path Analysis and Kinematic Control of a Cable-Driven Parallel Robot Allowing Cables to Wrap on Cylinders or Spheres
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Topics: Cables, Kinematics, Cylinders
Journal Articles

Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics

Ryan J. Caverly, Sze Kwan Cheah, Keegan R. Bunker, Samir Patel, Niko Sexton, Vinh L. Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010904.
Paper No: JMR-23-1714
https://doi.org/10.1115/1.4065236
Published Online: June 7, 2024
View Article titled, Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics
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Topics: Algorithms, Cables, Calibration, Errors, Kinematics, Simulation, Robots, End effectors
Journal Articles

A Cable-Based Haptic Interface With a Reconfigurable Structure

Bastien Poitrimol, Hiroshi Igarashi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010901.
Paper No: JMR-23-1599
https://doi.org/10.1115/1.4065318
Published Online: June 7, 2024
View Article titled, A Cable-Based Haptic Interface With a Reconfigurable Structure
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Topics: Cables, End effectors, Haptics, Kinematics, Motors, Robots, Force feedback, Actuators, Feedback, Computation
Journal Articles

Analytic Center-Based Tension Distribution for Cable-Driven Platforms

Vincenzo Di Paola, Alexandre Goldsztejn, Matteo Zoppi, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081018.
Paper No: JMR-23-1452
https://doi.org/10.1115/1.4065244
Published Online: April 24, 2024
View Article titled, Analytic Center-Based Tension Distribution for Cable-Driven Platforms
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Topics: Cables, Tension, Optimization, End effectors, Simulation, Robots
Journal Articles

Type Synthesis of a 3DOF Wrist Applying the Coupled-Input Cable-Driven Parallel Robot

Shibo Liu, Jiangping Mei, Panfeng Wang, Fan Guo, Jiaxing Li, Shuai Wang, Ruizhi Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124502.
Paper No: JMR-23-1168
https://doi.org/10.1115/1.4065083
Published Online: April 23, 2024
View Article titled, Type Synthesis of a 3DOF Wrist Applying the Coupled-Input Cable-Driven Parallel Robot
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Topics: Cables, Design, Topology, Winding (process), Robots, Actuators
Journal Articles

Design and Kinematics of a Novel Continuum Robot Connected by Unique Offset Cross Revolute Joints

Xuhao Wang, Chengfa Wang, Mengli Wu, Mingyu Li, Yilong Xu, Guanhao Li, Zhiyong Guo, Yiran Cao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121003.
Paper No: JMR-23-1297
https://doi.org/10.1115/1.4065084
Published Online: March 29, 2024
View Article titled, Design and Kinematics of a Novel Continuum Robot Connected by Unique Offset Cross Revolute Joints
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Topics: Kinematics, Robots, Cables, Algorithms, Simulation, Stiffness
Journal Articles

Design of a Novel Linkage for Electronic Parking Brake Transmission Systems

Giuseppe Quaglia, Fortunato Pepe, Lorenzo Toccaceli, Giovanni Colucci
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. September 2024, 16(9): 095001.
Paper No: JMR-23-1669
https://doi.org/10.1115/1.4064983
Published Online: March 18, 2024
View Article titled, Design of a Novel Linkage for Electronic Parking Brake Transmission Systems
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Topics: Brakes, Cables, Design, Linkages, Engines, Motors
Journal Articles

Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method

Zhengyu Wang, Xuchang Liu, Zirui Jia, Xiang Yu, Zongkun Pei, Jun Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101014.
Paper No: JMR-23-1620
https://doi.org/10.1115/1.4064670
Published Online: March 5, 2024
View Article titled, Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method
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Topics: Cables, Calibration, Kinematics, Robots, Design
Journal Articles

Impact of the Bars Behavior on the Design of Soft Tensegrities

Jérémy Sand, François Geiskopf, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104501.
Paper No: JMR-23-1373
https://doi.org/10.1115/1.4064572
Published Online: February 27, 2024
View Article titled, Impact of the Bars Behavior on the Design of Soft Tensegrities
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Topics: Stiffness, Tensegrity, Cables, Design, Stress, Silicones, Steel
Journal Articles

Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery

Zhengyu Wang, Wenjun Song, Wenjie Bian, Ziqian Li, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101010.
Paper No: JMR-23-1615
https://doi.org/10.1115/1.4064636
Published Online: February 27, 2024
View Article titled, Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery
Open the PDF for Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery in another window
Topics: Design, Engineering prototypes, Exoskeleton devices, Rotation, Surgery, Tendons, Torque, Kinematics, Cables, Mechanical admittance
Journal Articles

A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator

Zhengyu Wang, Xiang Yu, Mingxin Hai, Sen Qian, Daoming Wang, Ziqian Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101006.
Paper No: JMR-23-1111
https://doi.org/10.1115/1.4064568
Published Online: February 27, 2024
View Article titled, A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
Open the PDF for A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator in another window
Topics: Cables, Haptics, Manipulators, Pulleys, Surgery, Algorithms, Errors