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Journal Articles

Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced

Accepted Manuscript
Zhaopeng Jin, Yanzhi Zhao, Yajun Liu, Yu Shan, Yue Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1538
https://doi.org/10.1115/1.4066744
Published Online: September 30, 2024
View Article titled, Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced
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Topics: Design, Force feedback, Jacobian matrices, Weight (Mass), Errors, Robots, Transparency, Engineering prototypes, Feedback, Gravity (Force)
Journal Articles

A New Planar Overconstrained Mechanism Generated by Merging Two Symmetric Watt’s Six-Bar Linkages that Perform Gear-Like Motion

Cody Leeheng Chan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031011.
Paper No: JMR-24-1015
https://doi.org/10.1115/1.4066336
Published Online: September 20, 2024
View Article titled, A New Planar Overconstrained Mechanism Generated by Merging Two Symmetric Watt’s Six-Bar Linkages that Perform Gear-Like Motion
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Topics: Gears, Linkages, Design, Hinges, Errors
Journal Articles

Fast Kinematic Calibration of a Robotic Manipulator Through a Single Continuous Motion

Sheng Jian, Hao Xiong, Anjia Wang, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031012.
Paper No: JMR-23-1745
https://doi.org/10.1115/1.4066400
Published Online: September 20, 2024
View Article titled, Fast Kinematic Calibration of a Robotic Manipulator Through a Single Continuous Motion
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Topics: Calibration, Errors, Kinematics, Manipulators, Trajectories (Physics), Coordinate measuring machines
Journal Articles

Modeling, Simulation and Kinematic Validation of Transfemoral Prosthetic Mechanism with Ankle Varus-Valgus Characteristic

Accepted Manuscript
Majun Song, Zhongyi Li, Hao Zheng, Weihai Chen, Sheng Guo, Lianzheng Niu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1788
https://doi.org/10.1115/1.4066552
Published Online: September 13, 2024
View Article titled, Modeling, Simulation and Kinematic Validation of Transfemoral Prosthetic Mechanism with Ankle Varus-Valgus Characteristic
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Topics: Artificial limbs, Kinematics, Modeling, Robots, Simulation, Prostheses, Errors, Optimization, Biomechanics, Bionics
Journal Articles

Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism

Xiaolu Zhao, Fujun Wang, Changping Tao, Beichao Shi, Zhichen Huo, Yanling Tian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031002.
Paper No: JMR-24-1102
https://doi.org/10.1115/1.4066135
Published Online: September 3, 2024
View Article titled, Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism
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Topics: Design, Kinematics, Robots, Surgery, Errors, Modeling
Journal Articles

Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance

Sen Xu, Kai Tang, Lingmin Xu, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031003.
Paper No: JMR-24-1141
https://doi.org/10.1115/1.4066136
Published Online: September 3, 2024
View Article titled, Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
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Topics: Calibration, Design, Exoskeleton devices, Modeling, Rods, Stiffness, Torque, Parallel mechanisms, Errors
Journal Articles

A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots

Jianyu Yang, Xuanting Li, Zhongqi Sheng, Xiaofeng Ma, Hui Shi, Hualong Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021009.
Paper No: JMR-23-1618
https://doi.org/10.1115/1.4066000
Published Online: August 8, 2024
View Article titled, A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots
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Topics: Algorithms, Errors, Robots, Simulation, Kinematics, End effectors, Trajectories (Physics)
Journal Articles

DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation

Alberto Parmiggiani, Emilio Ottonello, Seyyed Masoud Kargar, Mario Baggetta, Guangbo Hao, Giovanni Berselli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111011.
Paper No: JMR-23-1682
https://doi.org/10.1115/1.4065780
Published Online: July 22, 2024
View Article titled, DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation
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Topics: Additive manufacturing, Design, Robots, Stiffness, Errors, Stress, End effectors, Simulation
Journal Articles

Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator

Xuyang Duan, Wei Yan, Tianyi Yan, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011004.
Paper No: JMR-24-1033
https://doi.org/10.1115/1.4065563
Published Online: June 18, 2024
View Article titled, Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator
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Topics: Deflection, Design, End effectors, Engineering prototypes, Errors, Finite element analysis, Manipulators, Modeling, Servomotors, Trajectories (Physics)
Journal Articles

An Actuation Acceleration-Based Kinematic Modeling and Parameter Identification Approach for a Six-Degrees-of-Freedom 6-PSU Parallel Robot With Joint Clearances

Xin Liu, Chenkun Qi, Jianfeng Lin, Dongjin Li, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011005.
Paper No: JMR-23-1403
https://doi.org/10.1115/1.4065679
Published Online: June 18, 2024
View Article titled, An Actuation Acceleration-Based Kinematic Modeling and Parameter Identification Approach for a Six-Degrees-of-Freedom 6-PSU Parallel Robot With Joint Clearances
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Topics: Errors, Kinematics, Modeling, Robots, Clearances (Engineering), End effectors
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

Positioning Error Estimation Models for Horizontal-Distributed Prismatic–Universal–Universal Parallel Mechanism

Jian-Dong Ke, Yu-Jen Wang, Jhy-Cherng Tsai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121010.
Paper No: JMR-23-1409
https://doi.org/10.1115/1.4065320
Published Online: May 29, 2024
View Article titled, Positioning Error Estimation Models for Horizontal-Distributed Prismatic–Universal–Universal Parallel Mechanism
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Topics: Errors, Kinematics, Artificial neural networks
Journal Articles

Prediction of Human Reaching Pose Sequences in Human–Robot Collaboration

Jared Flowers, Gloria Wiens
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111009.
Paper No: JMR-23-1670
https://doi.org/10.1115/1.4065319
Published Online: May 10, 2024
View Article titled, Prediction of Human Reaching Pose Sequences in Human–Robot Collaboration
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Topics: Artificial neural networks, Errors, Human-robot collaboration, Robots, Manufacturing, Trains, Yaw, Time series
Journal Articles

An Efficient Kinematic Calibration Method for Parallel Robots With Compact Multi-Degrees-of-Freedom Joint Models

Weijia Zhang, Zikang Shi, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101011.
Paper No: JMR-23-1707
https://doi.org/10.1115/1.4064637
Published Online: February 28, 2024
View Article titled, An Efficient Kinematic Calibration Method for Parallel Robots With Compact Multi-Degrees-of-Freedom Joint Models
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Topics: Calibration, Error compensation, Errors, Kinematics, Robots, Modeling, Simulation, End effectors
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
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Topics: Cables, Haptics, Manipulators, Pulleys, Surgery, Algorithms, Errors
Journal Articles

Sensitivity Analysis of Performance Tests for Six-Degree-of-Freedom Serial Industrial Robots

Ling Wang, Xiaoliang Wu, Yanfeng Gao, Xiai Chen, Binrui Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091009.
Paper No: JMR-23-1449
https://doi.org/10.1115/1.4064573
Published Online: February 27, 2024
View Article titled, Sensitivity Analysis of Performance Tests for Six-Degree-of-Freedom Serial Industrial Robots
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Topics: Errors, Kinematics, Robots, Stiffness, Testing performance, Simulation, Sensitivity analysis
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

A Compliant Hinge Joint Driven by the PneuNets Bending Actuator

Yi Jin, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081015.
Paper No: JMR-23-1363
https://doi.org/10.1115/1.4064282
Published Online: January 12, 2024
View Article titled, A Compliant Hinge Joint Driven by the PneuNets Bending Actuator
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Topics: Actuators, Design, Hinges, Simulation, Stiffness, Errors, Kinematics, Pressure, Soft robots
Journal Articles

Constant Force Spring System With a Spiral: Accuracy Assessment

Vittorio Zampoli, Richard B. Hetnarski
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031016.
Paper No: JMR-23-1352
https://doi.org/10.1115/1.4064130
Published Online: January 4, 2024
View Article titled, Constant Force Spring System With a Spiral: Accuracy Assessment
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Topics: Springs, Errors
Journal Articles

Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot

Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071002.
Paper No: JMR-23-1220
https://doi.org/10.1115/1.4063369
Published Online: October 13, 2023
View Article titled, Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot
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Topics: Cables, Robots, Shapes, Surgery, Artificial neural networks, Calibration, Modeling, Stress, Errors, Kinematics