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Journal Articles

Type Synthesis and Analysis of Reconfigurable Modules for Closed-Loop Cable-Driven Mechanisms Based on Geometric Constraints

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Chengcheng Cai, Guowu Wei, Jianchang Zhao, Shuxin Wang, Jianmin Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2025, 147(11): 113301.
Paper No: MD-24-1420
https://doi.org/10.1115/1.4068333
Published Online: May 9, 2025
View Articletitled, Type Synthesis and Analysis of Reconfigurable Modules for Closed-Loop Cable-Driven Mechanisms Based on Geometric Constraints
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Topics: Cables, Kinematics, Tension
Journal Articles

Motion Analysis and Orientation Holding Control of a 3-RRR Rigid-Flexible Coupling Mechanism for Photovoltaic Panel Assembly

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Sen Qian, Guohua Song, Bin Zi
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2025, 147(10): 103302.
Paper No: MD-24-1593
https://doi.org/10.1115/1.4068102
Published Online: March 20, 2025
View Articletitled, Motion Analysis and Orientation Holding Control of a 3-RRR Rigid-Flexible Coupling Mechanism for Photovoltaic Panel Assembly
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Topics: Kinematics, Manufacturing, Photovoltaic panels, Robots, Simulation, Cables, Errors, Signals, Parallel mechanisms
Journal Articles

Design and Analysis of a Cable-Driven Lower Limb Rehabilitation Robot With Variable Stiffness Joints

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Xiangxu Qu, Cui Liu, Lan Dong, Yuting Zhang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2025, 147(9): 093305.
Paper No: MD-24-1701
https://doi.org/10.1115/1.4068105
Published Online: March 18, 2025
View Articletitled, Design and Analysis of a Cable-Driven Lower Limb Rehabilitation Robot With Variable Stiffness Joints
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Topics: Cables, Robots, Stiffness, Tension, Design
Journal Articles

In Situ Variable Stiffness Strategy for a Planar Tensegrity Manipulator Using Quadratic Programming

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Yanghui Chen, Jiahui Luo, Jiafu Liu, Xiaoming Xu, Jianping Jiang, Weimeng Chu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2025, 147(9): 093302.
Paper No: MD-24-1670
https://doi.org/10.1115/1.4067922
Published Online: March 13, 2025
View Articletitled, In Situ Variable Stiffness Strategy for a Planar Tensegrity Manipulator Using Quadratic Programming
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Topics: Stiffness, Manipulators, Cables, Tensegrity
Journal Articles

Dynamic Modeling, Uncertainty Analysis, and Experimental Study of a New Cable-Driven Parallel Robot With Interval Variables

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Bin Zhou, Sipan Li, Zhiyuan Wang, Bing Chen, Bin Zi
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083301.
Paper No: MD-24-1463
https://doi.org/10.1115/1.4067712
Published Online: February 25, 2025
View Articletitled, Dynamic Modeling, Uncertainty Analysis, and Experimental Study of a New Cable-Driven Parallel Robot With Interval Variables
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Topics: Cables, Dynamic modeling, Dynamic response, Errors, Polynomials, Robots, Uncertainty analysis, Kinematics, Thrust, Equilibrium (Physics)
Journal Articles

Design and Optimization of a Cable-Driven Parallel Polishing Robot With Kinematic Error Modeling

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Bin Zhou, Shuainan Wu, Bin Zi, Weidong Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2025, 147(1): 013304.
Paper No: MD-24-1117
https://doi.org/10.1115/1.4065915
Published Online: August 21, 2024
View Articletitled, Design and Optimization of a Cable-Driven Parallel Polishing Robot With Kinematic Error Modeling
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Topics: Cables, Errors, Kinematics, Robots, Modeling, Pareto optimization, Stiffness, Polishing, Design, Optimization
Journal Articles

Development and Optimization of a Noncircular Pulley for Motion Decoupling in Cable-Driven Serial Robots

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Jinsai Cheng, Tao Shen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2024, 146(11): 113301.
Paper No: MD-23-1859
https://doi.org/10.1115/1.4065278
Published Online: May 21, 2024
View Articletitled, Development and Optimization of a Noncircular Pulley for Motion Decoupling in Cable-Driven Serial Robots
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Topics: Cables, Errors, Optimization, Pulleys, Robots, Rotation, Design
Journal Articles

Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm

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Bin Zhou, Sipan Li, Bin Zi, Bing Chen, Weidong Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2023, 145(8): 083301.
Paper No: MD-22-1730
https://doi.org/10.1115/1.4062458
Published Online: May 22, 2023
View Articletitled, Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm
Open the PDF for Multi-Objective Optimal Design of a Cable-Driven Parallel Robot Based on an Adaptive Adjustment Inertia Weight Particle Swarm Optimization Algorithm in another window
Topics: Algorithms, Cables, Design, End effectors, Inertia (Mechanics), Particle swarm optimization, Weight (Mass), Kinematics, Robots, Optimization
Journal Articles

A Synergy-Based Approach for the Design of a Lower-Limb, Cable-Driven Exosuit

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Daniel Rodriguez Jorge, Javier Bermejo-Garcìa, Ashwin Jayakumar, Francisco Romero-Sánchez, Francisco Javier Alonso
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2022, 144(10): 103302.
Paper No: MD-21-1746
https://doi.org/10.1115/1.4054768
Published Online: June 30, 2022
View Articletitled, A Synergy-Based Approach for the Design of a Lower-Limb, Cable-Driven Exosuit
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Topics: Actuators, Cables, Design, Pulleys
Journal Articles

Design of Unmanned Cable Shovel Based on Multiobjective Co-Design Optimization of Structural and Control Parameters

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Tianci Zhang, Tao Fu, Xueguan Song
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2022, 144(9): 091708.
Paper No: MD-22-1037
https://doi.org/10.1115/1.4054808
Published Online: June 29, 2022
View Articletitled, Design of Unmanned Cable Shovel Based on Multiobjective Co-Design Optimization of Structural and Control Parameters
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Topics: Cables, Design, Optimization, Trajectories (Physics)
Journal Articles

Design of a Tensegrity Servo-Actuated Structure for Civil Applications

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Cecilia Scoccia, Luca Carbonari, Giacomo Palmieri, Massimo Callegari, Marco Rossi, Placido Munafó, Francesco Marchione, Gianluca Chiappini
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2022, 144(4): 043302.
Paper No: MD-21-1355
https://doi.org/10.1115/1.4053283
Published Online: January 17, 2022
View Articletitled, Design of a Tensegrity Servo-Actuated Structure for Civil Applications
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Topics: Cables, Deformation, Glass, Metals, Servomechanisms, Stress, Tensegrity, Tensegrity structures, Design, Mechatronic devices
Journal Articles

An Optimization Framework for the Design of Cable Harness Layouts in Planar Interconnected Systems

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Nafiseh Masoudi, Georges Fadel
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2022, 144(1): 011701.
Paper No: MD-20-1813
https://doi.org/10.1115/1.4051685
Published Online: July 20, 2021
View Articletitled, An Optimization Framework for the Design of Cable Harness Layouts in Planar Interconnected Systems
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Topics: Cables, Design, Optimization, Wire, Hull
Journal Articles

Design and Error Evaluation of Planar 2DOF Remote Center of Motion Mechanisms With Cable Transmissions

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Long Huang, Lairong Yin, Bei Liu, Yang Yang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2021, 143(1): 013301.
Paper No: MD-20-1088
https://doi.org/10.1115/1.4047519
Published Online: July 27, 2020
View Articletitled, Design and Error Evaluation of Planar 2DOF Remote Center of Motion Mechanisms With Cable Transmissions
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Topics: Cables, Errors, Pulleys, Drive chain
Journal Articles

Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines

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Sen Qian, Kunlong Bao, Bin Zi, W. D. Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2020, 142(7): 073301.
Paper No: MD-19-1512
https://doi.org/10.1115/1.4045723
Published Online: February 14, 2020
View Articletitled, Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines
Open the PDF for Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines in another window
Topics: B-splines, Cables, Degrees of freedom, End effectors, Robots, Trajectories (Physics), Kinematics, Tension
Journal Articles

Singularity Analysis on a Special Class of Cable-Suspended Parallel Mechanisms With Pairwise Cable Arrangement and Actuation Redundancy

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Lewei Tang, Pengshuai Shi, Li Wu, Xiaoyu Wu, Xiaoqiang Tang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. February 2020, 142(2): 024501.
Paper No: MD-19-1024
https://doi.org/10.1115/1.4043937
Published Online: October 16, 2019
View Articletitled, Singularity Analysis on a Special Class of Cable-Suspended Parallel Mechanisms With Pairwise Cable Arrangement and Actuation Redundancy
Open the PDF for Singularity Analysis on a Special Class of Cable-Suspended Parallel Mechanisms With Pairwise Cable Arrangement and Actuation Redundancy in another window
Topics: Cables, End effectors, Redundancy (Engineering), Parallel mechanisms
Journal Articles

Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots

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Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2019, 141(9): 092305.
Paper No: MD-18-1547
https://doi.org/10.1115/1.4043932
Published Online: July 19, 2019
View Articletitled, Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots
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Topics: Actuators, Failure, Jacobian matrices, Robots, Robotics, Cables, End effectors, Grasping, Optimization
Journal Articles

Redundancy Allocation for Multistate Systems With Component Dependencies and Load Sharing

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Jing Wang, Mian Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. November 2016, 138(11): 111403.
Paper No: MD-16-1131
https://doi.org/10.1115/1.4034108
Published Online: September 12, 2016
View Articletitled, Redundancy Allocation for Multistate Systems With Component Dependencies and Load Sharing
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Topics: Failure, Optimization, Redundancy (Engineering), Reliability, Stress, Maintenance, Cables, Design
Journal Articles

Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators

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Darwin Lau, Denny Oetomo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. March 2016, 138(3): 032303.
Paper No: MD-15-1432
https://doi.org/10.1115/1.4032402
Published Online: January 27, 2016
View Articletitled, Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators
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Topics: Cables, Manipulators
Journal Articles

Design for Additive Manufacture of Fine Medical Instrumentation—DragonFlex Case Study

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Filip Jelínek, Paul Breedveld
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. November 2015, 137(11): 111416.
Paper No: MD-15-1158
https://doi.org/10.1115/1.4030997
Published Online: October 12, 2015
View Articletitled, Design for Additive Manufacture of Fine Medical Instrumentation—DragonFlex Case Study
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Topics: Cables, Design, Engineering prototypes, Instrumentation, Printing, Manufacturing, Biomedicine, Biocompatibility
Journal Articles

Design of a Compact Robotic Manipulator for Single-Port Laparoscopy

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Claudio Quaglia, Gianluigi Petroni, Marta Niccolini, Sebastiano Caccavaro, Paolo Dario, Arianna Menciassi
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. October 2014, 136(10): 105001.
Paper No: MD-13-1148
https://doi.org/10.1115/1.4027782
Published Online: July 30, 2014
View Articletitled, Design of a Compact Robotic Manipulator for Single-Port Laparoscopy
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Topics: Design, Manipulators, Motors, Robotics, Robots, Surgery, Cables, Grippers, Gears, Kinematics