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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

An Origami-Enabled Soft Linear Actuator and Its Application on a Crawling Robot

Shuiqing Yan, Keyao Song, Xiashuang Wang, Jiake Li, Zhe Ma, Xiang Zhou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011002.
Paper No: JMR-24-1047
https://doi.org/10.1115/1.4065462
Published Online: June 18, 2024
View Article titled, An Origami-Enabled Soft Linear Actuator and Its Application on a Crawling Robot
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Topics: Actuators, Displacement, Robots, Design, Servomotors, Deformation
Includes: Supplementary data
Journal Articles

Kinetostatic Modeling of an Asymmetrical Double-Stepped Beam for Displacement Amplification

Tri-Hieu Nguyen, Huy-Tuan Pham, Ngoc Dang Khoa Tran, Dung-An Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011003.
Paper No: JMR-24-1051
https://doi.org/10.1115/1.4065521
Published Online: June 18, 2024
View Article titled, Kinetostatic Modeling of an Asymmetrical Double-Stepped Beam for Displacement Amplification
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Topics: Displacement, Stress, Buckling, Symmetry (Physics), Modeling
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

Design and Analysis of a Symmetric Overconstrained Compliant Tilt/Tip Stage Based on a Hybrid Transmission Ratio Model

Jian Yang, Peng Yan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071017.
Paper No: JMR-24-1007
https://doi.org/10.1115/1.4065258
Published Online: April 24, 2024
View Article titled, Design and Analysis of a Symmetric Overconstrained Compliant Tilt/Tip Stage Based on a Hybrid Transmission Ratio Model
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Topics: Bending (Stress), Compliant mechanisms, Design, Finite element analysis, Hinges, Bridges (Structures), Rotation, Displacement
Journal Articles

Topology Optimization of a Compliant Constant-Force End Effector for Robotic Operations Over Uneven Surfaces

Chih-Hsing Liu, Yuan-Ping Ho, Jui-Chih Chi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121007.
Paper No: JMR-23-1734
https://doi.org/10.1115/1.4065119
Published Online: April 23, 2024
View Article titled, Topology Optimization of a Compliant Constant-Force End Effector for Robotic Operations Over Uneven Surfaces
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Topics: Design, Displacement, End effectors, Topology optimization, Robotics
Journal Articles

Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators

Md Modassir Firdaus, Omkar Dilip Paranjape, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101013.
Paper No: JMR-23-1401
https://doi.org/10.1115/1.4064669
Published Online: March 5, 2024
View Article titled, Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators
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Topics: Displacement, Manipulators, Shapes, Tendons, Tension, Steady state, Dynamic models, Damping
Journal Articles

A Dimensionless Large Displacement Model for Flexure Hinges of Elliptical Geometry

Simir Moschini, Matteo Claudio Palpacelli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101002.
Paper No: JMR-23-1158
https://doi.org/10.1115/1.4064416
Published Online: February 5, 2024
View Article titled, A Dimensionless Large Displacement Model for Flexure Hinges of Elliptical Geometry
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Topics: Bending (Stress), Geometry, Hinges, Stiffness, Displacement, Stress, Errors, Compliant mechanisms, Simulation
Journal Articles

Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints

Siyuan Ye, Pengyuan Zhao, Shiyao Li, Fatemeh Kavousi, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091005.
Paper No: JMR-23-1456
https://doi.org/10.1115/1.4064368
Published Online: February 1, 2024
View Article titled, Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints
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Topics: Design, Displacement, Finite element analysis, Modeling, Stress, Manufacturing, Stiffness, Additive manufacturing
Journal Articles

On the Construction of Confidence Regions for Uncertain Planar Displacements

Zihan Yu, Qiaode Jeffrey Ge, Mark P. Langer, Mona Arbab
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081014.
Paper No: JMR-23-1284
https://doi.org/10.1115/1.4064281
Published Online: January 12, 2024
View Article titled, On the Construction of Confidence Regions for Uncertain Planar Displacements
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Topics: Displacement, Poles (Building), Rotation, Construction, Tumors
Journal Articles

Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems

Seth Donahue, Trevor Kingsbury, Kota Takahashi, Matthew J. Major
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081012.
Paper No: JMR-22-1646
https://doi.org/10.1115/1.4064279
Published Online: January 11, 2024
View Article titled, Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems
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Topics: Algorithms, Artificial limbs, Displacement, Prostheses, Modeling, Nonlinear dynamics, Dynamics (Mechanics)
Journal Articles

Conformal Geometric Algebra–Based Geometric Modeling Method for Forward Displacement Analysis of 6-4 Stewart Platforms

Ganmin Zhu, Shimin Wei, Duanling Li, Yingli Wang, Qizheng Liao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071009.
Paper No: JMR-23-1359
https://doi.org/10.1115/1.4063501
Published Online: October 20, 2023
View Article titled, Conformal Geometric Algebra–Based Geometric Modeling Method for Forward Displacement Analysis of 6-4 Stewart Platforms
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Topics: Algebra, Displacement, Geometric modeling, Constraint equations
Journal Articles

Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot

Qi Yang, Xinyu Liu, Ze Yu, Binbin Lian, Tao Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061011.
Paper No: JMR-23-1266
https://doi.org/10.1115/1.4063290
Published Online: October 4, 2023
View Article titled, Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot
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Topics: Cables, Friction, Kinematics, Robots, Optimization, Modeling, Displacement, Stiffness, Tensegrity, Mobile robots
Journal Articles

Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation

Sajeeva Abeywardena, Eisa Anwar, Stuart Charles Miller, Ildar Farkhatdinov
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061007.
Paper No: JMR-23-1039
https://doi.org/10.1115/1.4063094
Published Online: August 31, 2023
View Article titled, Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation
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Topics: Kinematics, Robotics, Simulation, Torque, Trajectories (Physics), Inertia (Mechanics), Design, Dynamics (Mechanics), Actuators, Displacement
Includes: Supplementary data
Journal Articles

Designing and Analyzing Multistable Mechanisms Using Quadrilateral Boundary Rigid Origami

Munkyun Lee, Yuki Miyajima, Tomohiro Tachi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011008.
Paper No: JMR-22-1487
https://doi.org/10.1115/1.4062132
Published Online: March 28, 2023
View Article titled, Designing and Analyzing Multistable Mechanisms Using Quadrilateral Boundary Rigid Origami
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Topics: Design, Displacement, Hinges, Linkages, Optimization, Stiffness, Mirrors
Journal Articles

On the Computation of Mean and Variance of Spatial Displacements

Qiaode Jeffrey Ge, Zihan Yu, Mona Arbab, Mark P. Langer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011006.
Paper No: JMR-22-1507
https://doi.org/10.1115/1.4057046
Published Online: March 28, 2023
View Article titled, On the Computation of Mean and Variance of Spatial Displacements
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Topics: Displacement, Rotation, Kinematics, Weight (Mass)
Journal Articles

Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments

Chenhao Lu, Yao Chen, Jiayi Yan, Jian Feng, Pooya Sareh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031001.
Paper No: JMR-22-1316
https://doi.org/10.1115/1.4056870
Published Online: March 8, 2023
View Article titled, Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments
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Topics: Algorithms, Design, Kinematics, Stiffness, Displacement, Deformation, Structural analysis
Journal Articles

Graphic Transfer Matrix Method for Kinetostatic and Dynamic Analyses of Compliant Mechanisms

Lei Yuan, Mingxiang Ling, Jianhao Lai, Hai Li, Xianmin Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021009.
Paper No: JMR-22-1220
https://doi.org/10.1115/1.4056827
Published Online: March 8, 2023
View Article titled, Graphic Transfer Matrix Method for Kinetostatic and Dynamic Analyses of Compliant Mechanisms
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Topics: Bending (Stress), Chain, Compliant mechanisms, Displacement, Hinges, Modeling, Stiffness
Journal Articles

Kinematics Analysis of 6-Degrees-of-Freedom Parallel + Serial Type Hybrid Mechanisms Containing Parallel Mechanism With High Coupling Motions

Bo Hu, Zhiyong Liu, Jinjun Zhao, Jingyu Zhao, Jiantao Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2024, 16(2): 024501.
Paper No: JMR-22-1419
https://doi.org/10.1115/1.4056673
Published Online: March 3, 2023
View Article titled, Kinematics Analysis of 6-Degrees-of-Freedom Parallel + Serial Type Hybrid Mechanisms Containing Parallel Mechanism With High Coupling Motions
Open the PDF for Kinematics Analysis of 6-Degrees-of-Freedom Parallel + Serial Type Hybrid Mechanisms Containing Parallel Mechanism With High Coupling Motions in another window
Topics: Displacement, Kinematics, Parallel mechanisms
Journal Articles

Design and Analysis of an Active Swing Decoupling Compliant Mechanism With Multiple Co-Directional Input Branches

Guoshuai Liu, Pengbo Liu, Peng Yan, Yushu Shi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021004.
Paper No: JMR-22-1437
https://doi.org/10.1115/1.4056674
Published Online: March 3, 2023
View Article titled, Design and Analysis of an Active Swing Decoupling Compliant Mechanism With Multiple Co-Directional Input Branches
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Topics: Compliant mechanisms, Design, Displacement, Hinges, Modeling, Rotation, Simulation, Finite element analysis, Deformation, Engineering prototypes