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Journal Articles

An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability

Prashanth Nagaraja, Sudheer Reddy Joharapuram, Bindusagar Malenahalli Ganesh, Basavaraj Herai Matt, Nikhil Umesh, Kiran Madrahalli Chidanandamurthy
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2025, 17(2): 025001.
Paper No: JMR-24-1020
https://doi.org/10.1115/1.4065796
Published Online: August 8, 2024
View Article titled, An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability
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Topics: Robots, Wheels, Mobile robots, Actuators
Journal Articles

Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand

P. Seguin, C. Preault, P. Vulliez, J. P. Gazeau
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2023, 15(6): 065001.
Paper No: JMR-21-1569
https://doi.org/10.1115/1.4056404
Published Online: January 18, 2023
View Article titled, Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand
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Topics: End effectors, Grasping, Grippers, Robotics, Rotation, Trajectories (Physics), Robots, Design, Errors
Journal Articles

Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints

Yifan Huang, Lei Yan, Taiwei Yang, Zhonghua Hu, Wenfu Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2023, 15(5): 055001.
Paper No: JMR-22-1109
https://doi.org/10.1115/1.4055934
Published Online: November 24, 2022
View Article titled, Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints
Open the PDF for Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints in another window
Topics: Cables, End effectors, Kinematics, Trajectories (Physics), Design, Motion control
Journal Articles

A Novel Design of a Multi-Fingered Bionic Hand With Variable Stiffness for Robotic Grasp

Xizhe Zang, Chao Wang, Pu Zhang, Gangfeng Liu, Xuehe Zhang, Jie Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2023, 15(4): 045001.
Paper No: JMR-21-1454
https://doi.org/10.1115/1.4055252
Published Online: November 10, 2022
View Article titled, A Novel Design of a Multi-Fingered Bionic Hand With Variable Stiffness for Robotic Grasp
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Topics: Design, Grasping, Robotics, Stiffness, Springs, Bionics, Robots
Journal Articles

Design of Adjustable Constant Force/Torque Mechanisms for Medical Applications

Zhuoqi Cheng, Thiusius Rajeeth Savarimuthu, Shaohui Foong, U-Xuan Tan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2023, 15(2): 025001.
Paper No: JMR-21-1431
https://doi.org/10.1115/1.4054638
Published Online: June 21, 2022
View Article titled, Design of Adjustable Constant Force/Torque Mechanisms for Medical Applications
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Topics: Biomedicine, Design, Displacement, Optimization, Springs, Stiffness, Stress, Torque, Shapes
Journal Articles

Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation

Patrick McGowan, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2023, 15(1): 015002.
Paper No: JMR-21-1763
https://doi.org/10.1115/1.4054551
Published Online: June 6, 2022
View Article titled, Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation
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Topics: Compliant mechanisms, Design, Displacement, Grippers, Optimization, Simulation
Journal Articles

UPed: A Quadruped Robot Platform to Study Directional Leg Compliance

Jason Gurney, Ali Samare Filsoofi, Eric McClain, Chris Bolejack, Mahtab Aboufazeli, V. John Mathews, Sanford Meek
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2023, 15(1): 015001.
Paper No: JMR-21-1372
https://doi.org/10.1115/1.4053995
Published Online: April 25, 2022
View Article titled, UPed: A Quadruped Robot Platform to Study Directional Leg Compliance
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Topics: Design, Knee, Robots, Stiffness, Pistons, Pressure
Journal Articles

Novel Methodology for Inflection Circle-Based Synthesis of Straight Line Crank Rocker Mechanism

P. B. Shiwalkar, S. D. Moghe, J. P. Modak
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2022, 14(5): 055001.
Paper No: JMR-21-1111
https://doi.org/10.1115/1.4053373
Published Online: February 18, 2022
View Article titled, Novel Methodology for Inflection Circle-Based Synthesis of Straight Line Crank Rocker Mechanism
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Journal Articles

Robotic Tensegrity Structure With a Mechanism Mimicking Human Shoulder Motion

Lengxue Li, Sunhong Kim, Junho Park, Youngjin Choi, Qiang Lu, Dongliang Peng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2022, 14(2): 025001.
Paper No: JMR-21-1197
https://doi.org/10.1115/1.4052124
Published Online: September 23, 2021
View Article titled, Robotic Tensegrity Structure With a Mechanism Mimicking Human Shoulder Motion
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Topics: Cables, Robotics, Tensegrity structures, Tensegrity, Degrees of freedom, Motors, Rotation, Design, String, Trajectories (Physics)
Journal Articles

Human Temporomandibular Joint Motion: A Synthesis Approach for Designing a Six-Bar Kinematic Simulator

Michel Demuynck, Aidin Delnavaz, Jérémie Voix
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2021, 13(6): 065001.
Paper No: JMR-20-1529
https://doi.org/10.1115/1.4050828
Published Online: June 1, 2021
View Article titled, Human Temporomandibular Joint Motion: A Synthesis Approach for Designing a Six-Bar Kinematic Simulator
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Topics: Design, Kinematics, Optimization, Linkages
Journal Articles

Design of a Novel Parallel Mechanism for Haptic Device

Lixing Jin, Xingguang Duan, Changsheng Li, Qingxin Shi, Hao Wen, Jin Wang, Haoyuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2021, 13(4): 045001.
Paper No: JMR-20-1500
https://doi.org/10.1115/1.4050562
Published Online: May 26, 2021
View Article titled, Design of a Novel Parallel Mechanism for Haptic Device
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Topics: Design, Grasping, Haptics, Kinematics, Optimization, Rotation, Chain, Parallel mechanisms, Force feedback, Engineering prototypes
Journal Articles

Neural Network-Based Transfer Learning of Manipulator Inverse Displacement Analysis

Houcheng Tang, Leila Notash
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035004.
Paper No: JMR-20-1455
https://doi.org/10.1115/1.4050622
Published Online: April 9, 2021
View Article titled, Neural Network-Based Transfer Learning of Manipulator Inverse Displacement Analysis
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Topics: Artificial neural networks, Displacement, Manipulators
Journal Articles

Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

Nishant Jalgaonkar, Adam Kim, Shorya Awtar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035003.
Paper No: JMR-20-1450
https://doi.org/10.1115/1.4050103
Published Online: April 9, 2021
View Article titled, Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism
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Topics: Design, Kinematics, Robots, Actuators, Patient rehabilitation, Sensors
Journal Articles

Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms

Revanth Damerla, Shorya Awtar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035001.
Paper No: JMR-20-1393
https://doi.org/10.1115/1.4049947
Published Online: March 12, 2021
View Article titled, Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms
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Topics: Chain, Kinematics, Space, Stress, Yaw, End effectors, Rotation, Bearings, Arches
Journal Articles

An Optimal Design of a Flexible Piping Inspection Robot

Swaminath Venkateswaran, Damien Chablat, Pol Hamon
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035002.
Paper No: JMR-20-1446
https://doi.org/10.1115/1.4049948
Published Online: March 12, 2021
View Article titled, An Optimal Design of a Flexible Piping Inspection Robot
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Topics: Design, Motors, Optimization, Pipes, Robots, Tensegrity mechanisms, Pipelines, Inspection, Engines
Journal Articles

TriRhino: A Five-Degrees-of-Freedom of Hybrid Serial–Parallel Manipulator With All Rotating Axes Being Continuous: Stiffness Analysis and Experiments

Yundou Xu, Fan Yang, Zhenghe Xu, Jiantao Yao, Yulin Zhou, Yongsheng Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2021, 13(2): 025002.
Paper No: JMR-20-1146
https://doi.org/10.1115/1.4049192
Published Online: January 22, 2021
View Article titled, TriRhino: A Five-Degrees-of-Freedom of Hybrid Serial–Parallel Manipulator With All Rotating Axes Being Continuous: Stiffness Analysis and Experiments
Open the PDF for TriRhino: A Five-Degrees-of-Freedom of Hybrid Serial–Parallel Manipulator With All Rotating Axes Being Continuous: Stiffness Analysis and Experiments in another window
Topics: Calibration, Manipulators, Stiffness, Machining, Structural design, Finite element analysis
Journal Articles

Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task

June-Sup Yi, Francisco Yumbla, Eugene Auh, Meseret Abayebas, Tuan Anh Luong, Hyungpil Moon
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2021, 13(2): 025001.
Paper No: JMR-20-1166
https://doi.org/10.1115/1.4048915
Published Online: January 18, 2021
View Article titled, Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task
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Topics: Cables, Grippers, Manufacturing, Grasping
Journal Articles

Bionic Flapping Mechanism of the Wings of a Cursorial Dinosaur Robot for Estimating Its Lift and Thrust

Hong-Wei Song, Yaser Saffar Talori, Jing-Shan Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2021, 13(1): 015002.
Paper No: JMR-20-1188
https://doi.org/10.1115/1.4048429
Published Online: November 19, 2020
View Article titled, Bionic Flapping Mechanism of the Wings of a Cursorial Dinosaur Robot for Estimating Its Lift and Thrust
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Topics: Wings, Thrust, Robots
Journal Articles

Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism

Shorya Awtar, Jason Quint, John Ustick
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2021, 13(1): 015001.
Paper No: JMR-20-1056
https://doi.org/10.1115/1.4048259
Published Online: October 7, 2020
View Article titled, Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism
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Topics: Actuators, Design, Errors, Flexure mechanisms, Kinematics, Manufacturing, Sensors, Stiffness, Finite element analysis, Bending (Stress)
Journal Articles

Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism

Ming Cheng, Shaowei Fan, Dapeng Yang, Li Jiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2020, 12(6): 065001.
Paper No: JMR-19-1537
https://doi.org/10.1115/1.4047730
Published Online: July 28, 2020
View Article titled, Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism
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Topics: Design, Stability, Stiffness, Artificial limbs, Springs