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Journal Articles

Investigation on a Class of 2D Profile Amplified Stroke Dielectric Elastomer Actuators

Xi Wang, Luca Raimondi, Dragos Axinte, Xin Dong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031008.
Paper No: JMR-23-1609
https://doi.org/10.1115/1.4066131
Published Online: September 24, 2024
View Article titled, Investigation on a Class of 2D Profile Amplified Stroke Dielectric Elastomer Actuators
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Topics: Dielectric elastomer actuators, Stiffness
Journal Articles

Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators

Zhiguang Xing, Guoguo Yang, Pengyuan Wang, Zheng Zheng, Jianwen Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031010.
Paper No: JMR-23-1702
https://doi.org/10.1115/1.4066098
Published Online: September 20, 2024
View Article titled, Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators
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Topics: Kinematics, Manipulators, Algorithms, Robots
Journal Articles

A Screw Theory Approach for Instantaneous Kinematic Analysis of Parallel–Serial Manipulators

Anton V. Antonov, Alexey S. Fomin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031009.
Paper No: JMR-24-1187
https://doi.org/10.1115/1.4066134
Published Online: September 20, 2024
View Article titled, A Screw Theory Approach for Instantaneous Kinematic Analysis of Parallel–Serial Manipulators
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Topics: Manipulators, Parallel mechanisms
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

Evolution Design of Multiple Metamorphic Mechanisms Inspired by the Concept of Assur Group

Yuan Gao, Xi Kang, Bing Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031013.
Paper No: JMR-24-1044
https://doi.org/10.1115/1.4066401
Published Online: September 20, 2024
View Article titled, Evolution Design of Multiple Metamorphic Mechanisms Inspired by the Concept of Assur Group
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Topics: Bifurcation, Construction, Design, Kinematics
Journal Articles

One-Step Solving the Robot-World and Hand–Eye Calibration Based on the Principle of Transference

Xiao Wang, Hanwen Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031014.
Paper No: JMR-24-1127
https://doi.org/10.1115/1.4066402
Published Online: September 20, 2024
View Article titled, One-Step Solving the Robot-World and Hand–Eye Calibration Based on the Principle of Transference
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Topics: Calibration, Equations of motion, Kinematics, Rotation, Robots, Simulation
Journal Articles

A Novel One-Degree-of-Freedom Deployable Structure and Its Plate Form

Yuan Gao, Jian Qi, Lin Li, Jun Zhang, Fufu Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021012.
Paper No: JMR-24-1301
https://doi.org/10.1115/1.4066403
Published Online: September 20, 2024
View Article titled, A Novel One-Degree-of-Freedom Deployable Structure and Its Plate Form
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Topics: Kinematics, Linkages, Manufacturing
Journal Articles

Gait Generation of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model

Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021013.
Paper No: JMR-23-1698
https://doi.org/10.1115/1.4066428
Published Online: September 20, 2024
View Article titled, Gait Generation of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model
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Topics: Dynamics (Mechanics), Humanoid robots, Pendulums, Robots, Kinematics
Journal Articles

Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions

Rongfu Lin, Weizhong Guo, Wenhui Zeng, Kim Yan, Chun Ping Lam, Shing Shin Cheng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021010.
Paper No: JMR-24-1062
https://doi.org/10.1115/1.4066132
Published Online: September 3, 2024
View Article titled, Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions
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Topics: Design, Kinematics, End effectors, Jacobian matrices, Rotation, Screws, Engineering prototypes
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

Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper

Yoshinobu Onozawa, Keisuke Yagi, Yoshikazu Mori
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021011.
Paper No: JMR-24-1201
https://doi.org/10.1115/1.4066133
Published Online: September 3, 2024
View Article titled, Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper
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Topics: Design, Springs, Synchronization, Torque, Rotation
Journal Articles

Passive Realization of Object Spatial Compliance by a Hand Having Multiple Four-Joint Hard Fingers

Shuguang Huang, Joseph M. Schimmels
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031004.
Paper No: JMR-24-1072
https://doi.org/10.1115/1.4066168
Published Online: September 3, 2024
View Article titled, Passive Realization of Object Spatial Compliance by a Hand Having Multiple Four-Joint Hard Fingers
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Topics: Stiffness
Journal Articles

The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains

Vaughn Chambers, Bradley Hobbs, William Gaither, Zachary Thé, Anthony Zhou, Chrysostomos Karakasis, Panagiotis Artemiadis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031005.
Paper No: JMR-23-1825
https://doi.org/10.1115/1.4066173
Published Online: September 3, 2024
View Article titled, The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains
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Topics: Stiffness, Deflection, Belts, Design
Journal Articles

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Jason Gurney
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031006.
Paper No: JMR-24-1040
https://doi.org/10.1115/1.4066185
Published Online: September 3, 2024
View Article titled, Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion
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Topics: Control equipment, Knee, Legged locomotion, Simulation, Stiffness, Torque, Springs, Robotics, Stability
Journal Articles

Sparse Convolution-Based 6D Pose Estimation for Robotic Bin-Picking With Point Clouds

Chungang Zhuang, Wanhao Niu, Hesheng Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031007.
Paper No: JMR-24-1219
https://doi.org/10.1115/1.4066281
Published Online: September 3, 2024
View Article titled, Sparse Convolution-Based 6D Pose Estimation for Robotic Bin-Picking With Point Clouds
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Topics: Image segmentation, Robotics, Simulation, Robots, Grasping
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

Development and Analysis of a Novel Bio-Syncretic Parallel Hip Exoskeleton Based on Torque Requirements

Jilong Xu, Yunzhan Niu, Fucai Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031001.
Paper No: JMR-23-1755
https://doi.org/10.1115/1.4066039
Published Online: August 8, 2024
View Article titled, Development and Analysis of a Novel Bio-Syncretic Parallel Hip Exoskeleton Based on Torque Requirements
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Topics: Exoskeleton devices, Motors, Torque, Human-machine systems, Rotation
Journal Articles

Architecture Singularity Distance Computations for Linear Pentapods

Aditya Kapilavai, Georg Nawratil
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021008.
Paper No: JMR-24-1034
https://doi.org/10.1115/1.4065789
Published Online: July 23, 2024
View Article titled, Architecture Singularity Distance Computations for Linear Pentapods
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Topics: Design, Optimization, Computation, Manipulators, Robots, Algorithms