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Keywords: theoretical and computational kinematics
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Journal Articles

Design of an underactuated, flexure-based gripper, actuated through a push-pull flexure

Accepted Manuscript
Koen Dwarshuis, Jan De Jong, Dannis Brouwer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1252
https://doi.org/10.1115/1.4067265
Published Online: November 26, 2024
... 2024 14 11 2024 26 11 2024 Grasping, Fixturing, and Multi-finger hands Kinematics, Dynamics, and Control of Mechanical Systems Mechanism Synthesis and Analysis Mechanisms and Robots Theoretical and Computational Kinematics Journal of Mechanisms and Robotics. Received May 15...
View Article titled, Design of an underactuated, flexure-based gripper, actuated through a push-pull flexure
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Topics: Bending (Stress), Design, Grippers, Stress, Buckling, Kinematics, Stiffness, Analytical design, Damage, Dynamics (Mechanics)
Journal Articles

Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy

Accepted Manuscript
Lingmin Xu, Wei Ye, Qinchuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1761
https://doi.org/10.1115/1.4067228
Published Online: November 21, 2024
... Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 27 11 2023 12 11 2024 14 11 2024 21 11 2024 Parallel Robots Theoretical and Computational Kinematics Accepted Manuscript Not Copyedited Journal...
View Article titled, Evaluation Method and Performance Indices for the Motion/Force Constrainability of Overconstrained Parallel Manipulators Without Actuation Redundancy
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Topics: Evaluation methods, Manipulators, Redundancy (Engineering), Robots, Screws, Design, Kinematics, Machining, Stiffness, Stress
Journal Articles

Singularity Analysis Method of Multi-Loop Coupling Mechanism using Geometric Algebra

Accepted Manuscript
Yu Xiao, Lingmin Xu, Guochang Zheng, Qinchuan Li, Xinxue Chai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1461
https://doi.org/10.1115/1.4067230
Published Online: November 21, 2024
...@zstu.edu.cn Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 16 08 2024 15 11 2024 15 11 2024 21 11 2024 Mechanisms and Robots Parallel Robots Theoretical and Computational Kinematics Accepted...
View Article titled, Singularity Analysis Method of Multi-Loop Coupling Mechanism using Geometric Algebra
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Topics: Algebra, Polynomials, Robots, Aerospace engineering, Computation, Design, Kinematics, Space
Journal Articles

Synthesis and Analysis of Stephenson III Six-Bar Motion Generators With an Instantaneous Stop Link

Giorgio Figliolini, Chiara Lanni, Luciano Tomassi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044510.
Paper No: JMR-24-1446
https://doi.org/10.1115/1.4066903
Published Online: November 18, 2024
... Email: luciano.tomassi@unicas.it mechanism synthesis and analysis mechanisms and robots theoretical and computational kinematics References [1] Hartenberg , R. S. , and Denavit , J. , 1964 , Kinematic Synthesis of Linkages , McGraw-Hill , New York . [2...
View Article titled, Synthesis and Analysis of Stephenson III Six-Bar Motion Generators With an Instantaneous Stop Link
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Topics: Generators, Kinematics, Design
Journal Articles

Fourth-Order Accurate Strain-Parameterized Shape Representation of Beam Elements for Modeling Continuum Robots and Robotic Manipulation of Slender Objects

Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044509.
Paper No: JMR-24-1439
https://doi.org/10.1115/1.4066904
Published Online: November 18, 2024
... equation static deformation Cosserat beams Magnus expansion compliant mechanisms and robots kinematics dynamics control of mechanical systems mechanisms and robots parallel robots theoretical and computational kinematics References [1] Rucker , D. C. , Jones , B...
View Article titled, Fourth-Order Accurate Strain-Parameterized Shape Representation of Beam Elements for Modeling Continuum Robots and Robotic Manipulation of Slender Objects
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Topics: Approximation, Deformation, Displacement, Interpolation, Kinematics, Robots, Shapes, Stress, Robotics, Modeling
Journal Articles

T 1 -Positions of Four-bar Linkages

Accepted Manuscript
Tanya Chugh, K Rama Krishna
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics.
Paper No: JMR-24-1037
https://doi.org/10.1115/1.4067168
Published Online: November 14, 2024
... and Analysis Mechanisms and Robots Theoretical and Computational Kinematics Journal of Mechanisms and Robotics. Received January 17, 2024; Accepted manuscript posted November 07, 2024. doi:10.1115/1.4067168 Copyright © 2024 by ASME Accepted Manuscript Not Copyedited T1-Positions of Four-bar Linkages Tanya...
View Article titled, T 1 -Positions of Four-bar Linkages
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Topics: Linkages, Circuits, Kinematics, Robots
Journal Articles

Path Generative Model based on Conditional β - Variational Auto Encoder for Four-bar Mechanism Design

Accepted Manuscript
Anar Nurizada, Zhijie Lyu, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1110
https://doi.org/10.1115/1.4067169
Published Online: November 14, 2024
... and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 02 03 2024 08 11 2024 08 11 2024 14 11 2024 application of machine learning Artificial Intelligence Mechanism Synthesis and Analysis Theoretical and Computational Kinematics...
View Article titled, Path Generative Model based on Conditional β - Variational Auto Encoder for Four-bar Mechanism Design
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Topics: Algorithms, Artificial intelligence, Design, Encryption, Kinematics, Machine learning, Performance
Journal Articles

The Bressesque Surface: Distribution of Screw Pitch

David Dooner, Ricardo Garcia-Garcia, José M. Rico
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044502.
Paper No: JMR-24-1433
https://doi.org/10.1115/1.4066848
Published Online: November 6, 2024
... inflection surface Bressesque surface mechanisms and robots theoretical and computational kinematics 09 08 2024 02 10 2024 03 10 2024 06 11 2024 Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics...
View Article titled, The Bressesque Surface: Distribution of Screw Pitch
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Topics: Gears, Generators, Screws
Journal Articles

Point-based Models: A Unified Approach for Geometric Constraint Analysis of Planar N-Bar Mechanisms with Rotary, Sliding, and Rolling Joints

Accepted Manuscript
Zhijie Lyu, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics.
Paper No: JMR-24-1500
https://doi.org/10.1115/1.4066963
Published Online: October 21, 2024
... by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 07 09 2024 09 10 2024 10 10 2024 21 10 2024 Mechanism Synthesis and Analysis Theoretical and Computational Kinematics National Science Foundation 10.13039...
View Article titled, Point-based Models: A Unified Approach for Geometric Constraint Analysis of Planar N-Bar Mechanisms with Rotary, Sliding, and Rolling Joints
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Topics: Algorithms, Belts, Chain, Computer software, Constraint equations, Gears, Kinematics, Simulation, Stiffness, Wheels
Journal Articles

The Synthesis of Spherical Four-bars for Biomimetic Motion through Complete Solutions for Approximate Rigid Body Guidance

Accepted Manuscript
Sam O'Connor, Mark Plecnik
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics.
Paper No: JMR-24-1451
https://doi.org/10.1115/1.4066850
Published Online: October 14, 2024
... and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 14 08 2024 06 10 2024 08 10 2024 14 10 2024 Email: soconn22@nd.edu Email: plecnikmark@nd.edu Bio-inspired Mechanism Synthesis and Analysis Theoretical and Computational...
View Article titled, The Synthesis of Spherical Four-bars for Biomimetic Motion through Complete Solutions for Approximate Rigid Body Guidance
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Topics: Biomimetics, Optimization, Engineering prototypes, Kinematics, Seas, Wings
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
... synthesis linkage performs gear-like motion foldable phone hinge mechanism synthesis and analysis theoretical and computational kinematics References [1] Kim , J. , and Kim , H. , 2022 , “Hinge Structure and Electronic Device Including the Same,” US Patent US...
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
... data-enabled analysis of mechanical systems and robots parallel robots theoretical and computational kinematics Remark 1 Equation (2) describes the position interpolation of the j th segment path from the j th configuration to the ( j + 1 ) th configuration...
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

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
... movement. articulated-driven mechanism continuum robot follow-the-leader track following head-following cable-driven mechanisms mechanisms and robots soft robots theoretical and computational kinematics Graphical Abstract Figure 10 10 2023 10 07 2024 11 07 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

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
... ). Industrial applications of linear pentapod are, for example, discussed in Refs. [ 2 – 5 ]. Austrian Science Fund 10.13039/501100002428 Grant No. P 30855-N32 mechanism design parallel mechanisms and robots parallel robots theoretical and computational kinematics linear pentapods...
View Article titled, Architecture Singularity Distance Computations for Linear Pentapods
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Topics: Design, Optimization, Computation, Manipulators, Robots, Algorithms
Journal Articles

Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference

Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011006.
Paper No: JMR-24-1049
https://doi.org/10.1115/1.4065520
Published Online: June 24, 2024
... and exoskeletons rehabilitation mechanisms and robots theoretical and computational kinematics References [1] Marshall , E. A. , 1983 , “ A Dynamical Model for the Stride in Human Walking ,” Math. Modell. , 4 ( 5 ), pp. 391 – 415 . 10.1016/0270-0255(83)90045-3 [2] Tutsoy...
View Article titled, Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
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Topics: Dynamics (Mechanics), Knee, Torque, Kinematics, Exoskeleton devices, Dynamic models, Manipulators, Modeling
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
... ournal of M echanisms and R obotics . 15 01 2024 14 05 2024 14 05 2024 18 06 2024 Graphical Abstract Figure compliant mechanisms compliant mechanisms and robots parallel mechanisms and robots parallel robots theoretical and computational kinematics...
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

Design and Analysis of a New Non-Parasitic Parallel Mechanism for 2T1R Motion

Huiping Shen, Yao Tang, Marco Ceccarelli, Ju Li, Tao Li, Hongbo He
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. January 2025, 17(1): 014501.
Paper No: JMR-23-1310
https://doi.org/10.1115/1.4065678
Published Online: June 18, 2024
... mechanisms and robots theoretical and computational kinematics The remaining 2T1R PM category refers to the rotation around the axis parallel to the base platform. Li et al. carried out the design and analysis of a 2T1R PM for a cooking robot [ 7 ]. Zhang et al. designed a systematic type synthesis...
View Article titled, Design and Analysis of a New Non-Parasitic Parallel Mechanism for 2T1R Motion
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Topics: Design, Kinematics, Topology, Parallel mechanisms, Rotation
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
... modeling parameter identification parallel mechanisms and robots theoretical and computational kinematics National Natural Science Foundation of China 10.13039/501100001809 51927809 51975351 The parallel robot is useful in many fields, e.g., space docking simulator, earthquake...
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

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
... ]. cable-driven parallel robots cylinder sphere wrapping phenomenon kinematics and control of mechanical systems theoretical and computational kinematics Graphical Abstract Figure 29 09 2023 26 02 2024 27 02 2024 07 06 2024 Contributed by Mechanisms...
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