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Journal Articles

Kinematic Modeling and Workspace Analysis of a Cable-Driven Parallel Robot Considering Environmental Collisions

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Wei Wang, Jiahao Zhao, Yuan Li, Bin Zi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091011.
Paper No: JMR-25-1074
https://doi.org/10.1115/1.4068530
Published Online: May 7, 2025
View Articletitled, Kinematic Modeling and Workspace Analysis of a Cable-Driven Parallel Robot Considering Environmental Collisions
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Topics: Cables, Collisions (Physics), Kinematics, Robots, Cylinders
Journal Articles

Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot

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Qingjun Wu, Bin Zi, Bo Hu, Yuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081003.
Paper No: JMR-24-1422
https://doi.org/10.1115/1.4068120
Published Online: March 20, 2025
View Articletitled, Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot
Open the PDF for Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot in another window
Topics: Cables, Kinematics, Robots, End effectors, Springs, Dynamics (Mechanics), Modeling
Journal Articles

Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction

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Sen Qian, Changqi Li, Zeyao Zhao, Bin Zi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061002.
Paper No: JMR-24-1340
https://doi.org/10.1115/1.4067022
Published Online: November 22, 2024
View Articletitled, Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction
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Topics: Additive manufacturing, Cables, Construction, End effectors, Errors, Gravity (Force), Kinematics, Motion control, Path planning, Printing
Journal Articles

Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks

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Bing Chen, Xiang Ni, Bin Zi, Qingsong Xu, Jun Qian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071007.
Paper No: JMR-23-1199
https://doi.org/10.1115/1.4063455
Published Online: October 16, 2023
View Articletitled, Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks
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Topics: Exoskeleton devices, Muscle, Design, Stress, Torque, Cables
Journal Articles

Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms

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Zhengyu Wang, Shiyang Bao, Bin Zi, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031011.
Paper No: JMR-22-1584
https://doi.org/10.1115/1.4057075
Published Online: March 28, 2023
View Articletitled, Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
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Topics: Cables, Endoscopic devices, Kinematics, Robots, Design, Surgery, Lenses (Optics), Calibration
Journal Articles

Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint

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Bing Chen, Chenpu Shi, Chengwang Zheng, Bin Zi, Ping Zhao, Yuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051007.
Paper No: JMR-22-1333
https://doi.org/10.1115/1.4055936
Published Online: November 24, 2022
View Articletitled, Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint
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Topics: Exoskeleton devices, Knee, Cycles, Recycling
Journal Articles

Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model

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Jun Gao, Bin Zhou, Bin Zi, Sen Qian, Ping Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051008.
Paper No: JMR-21-1352
https://doi.org/10.1115/1.4053219
Published Online: February 21, 2022
View Articletitled, Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model
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Topics: Cables, Errors, Kinematics, Pulleys, Uncertainty, Uncertainty analysis, Robots
Journal Articles

Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy

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Bing Chen, Bin Zi, Bin Zhou, Zhengyu Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051001.
Paper No: JMR-21-1294
https://doi.org/10.1115/1.4053218
Published Online: February 18, 2022
View Articletitled, Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy
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Topics: Control equipment, Orthotics, Robotics, Torque
Journal Articles

Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake

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Bing Chen, Bin Zi, Zhengyu Wang, Yuan Li, Jun Qian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011002.
Paper No: JMR-20-1141
https://doi.org/10.1115/1.4047987
Published Online: August 17, 2020
View Articletitled, Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake
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Topics: Brakes, Orthotics, Robotics, Torque, Rheology, Engines, Motors, Actuators, Braking, Seas
Journal Articles

Design of Planar 1-DOF Cam-Linkages for Lower-Limb Rehabilitation Via Kinematic-Mapping Motion Synthesis Framework

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Ping Zhao, Lihong Zhu, Bin Zi, Xiangyun Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041006.
Paper No: JMR-18-1171
https://doi.org/10.1115/1.4043459
Published Online: May 17, 2019
View Articletitled, Design of Planar 1-DOF Cam-Linkages for Lower-Limb Rehabilitation Via Kinematic-Mapping Motion Synthesis Framework
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Topics: Design, Kinematics, Linkages
Journal Articles

Planar Linkage Synthesis for Mixed Exact and Approximated Motion Realization Via Kinematic Mapping

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Ping Zhao, Xin Ge, Bin Zi, Q. J. Ge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051004.
Paper No: JMR-15-1249
https://doi.org/10.1115/1.4032212
Published Online: May 4, 2016
View Articletitled, Planar Linkage Synthesis for Mixed Exact and Approximated Motion Realization Via Kinematic Mapping
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Topics: Approximation, Dimensions, Kinematics, Linkages, Algebra, Surface fitting, Fittings