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Journal Articles

A small-scale integrated jumping-crawling robot: design, modeling, and demonstration

Available to Purchase
Accepted Manuscript
Quan Liu, Zhongjun Yin, Mingge Li, Xiaoming Huang, Wenxi Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-25-1004
https://doi.org/10.1115/1.4068660
Published Online: May 13, 2025
View Articletitled, A small-scale integrated jumping-crawling robot: design, modeling, and demonstration
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Topics: Design, Modeling, Robots, Biomimetics, Dynamics (Mechanics), Kinematics
Journal Articles

Design and Modeling of an Expandable Bending Actuator With Multiple Pneumatic Sources

Available to Purchase
Xishuang Jing, Zhenyu Zhang, Bo Zeng, Zhe Zhao, Jiakang Hao, Siyu Chen, Chengyang Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091009.
Paper No: JMR-23-1658
https://doi.org/10.1115/1.4068478
Published Online: May 7, 2025
View Articletitled, Design and Modeling of an Expandable Bending Actuator With Multiple Pneumatic Sources
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Topics: Actuators, Pressure, Torque, Design
Journal Articles

Cable tension minimization of a redundant cable-driven robot with flexible end-effector

Available to Purchase
Accepted Manuscript
Dong-Jie Zhao, Han-Lin Sun, Li-Ming Liu, Jiang-Kun Shang, Guan-Yu Cao, Jing-Shan Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-25-1058
https://doi.org/10.1115/1.4068610
Published Online: May 6, 2025
View Articletitled, Cable tension minimization of a redundant cable-driven robot with flexible end-effector
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Topics: Cables, End effectors, Robots, Tension
Journal Articles

Design and Autonomous Obstacle-Crossing Strategy of a Reconfigurable Closed-Chain Legged Robot

Available to Purchase
Meng Zhao, Qiang Ruan, Jianxu Wu, Hong Liu, Yanan Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2025, 17(8): 084501.
Paper No: JMR-24-1378
https://doi.org/10.1115/1.4068274
Published Online: April 8, 2025
View Articletitled, Design and Autonomous Obstacle-Crossing Strategy of a Reconfigurable Closed-Chain Legged Robot
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Topics: Chain, Design, Robots, Trajectories (Physics), Simulation
Journal Articles

A New Method for Motion-Decoupling Identification of Parallel Mechanisms

Available to Purchase
Huiping Shen, Ju Li, Tao Li, Xiangchao Kong, Pengda Ye, Wei Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081004.
Paper No: JMR-24-1544
https://doi.org/10.1115/1.4068090
Published Online: April 3, 2025
View Articletitled, A New Method for Motion-Decoupling Identification of Parallel Mechanisms
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Topics: Chain, Parallel mechanisms, Topology, Kinematics, Jacobian matrices
Journal Articles

Design and Dynamic Analysis of a Bio-Inspired Rolling Joint Manipulator Based on Pulley-Cable System

Available to Purchase
Song Zeng, Yixin Zhang, Shaoping Wang, Giorgio Guglieri, Stefano Primatesta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081006.
Paper No: JMR-24-1583
https://doi.org/10.1115/1.4068166
Published Online: April 3, 2025
View Articletitled, Design and Dynamic Analysis of a Bio-Inspired Rolling Joint Manipulator Based on Pulley-Cable System
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Topics: Cables, Pulleys, Tension, Simulation
Journal Articles

A Study on the Comparative Analysis of Self-Aligned and Alignment-Free Mechanisms for Shoulder Rehabilitation

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Qiang Cao, Yongqi Yuan, Guoyu Li, Wenhao Shan, Yue Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081007.
Paper No: JMR-24-1633
https://doi.org/10.1115/1.4068185
Published Online: April 3, 2025
View Articletitled, A Study on the Comparative Analysis of Self-Aligned and Alignment-Free Mechanisms for Shoulder Rehabilitation
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Topics: Design, Exoskeleton devices, Kinematics, Robots, Displacement
Journal Articles

Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors

Available to Purchase
Severino Hernandez, Nina Robson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081002.
Paper No: JMR-24-1435
https://doi.org/10.1115/1.4067873
Published Online: March 20, 2025
View Articletitled, Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors
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Topics: Design, Trajectories (Physics), Knee, Kinematics, Linkages, Robots, Engineering prototypes
Journal Articles

Necessary and Sufficient Design Conditions for Overconstrained Cam Mechanisms With Flat-Faced and Roller Follower

Available to Purchase
Yen-Nien Chen, Kuan-Lun Hsu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. July 2025, 17(7): 075002.
Paper No: JMR-24-1535
https://doi.org/10.1115/1.4067993
Published Online: March 10, 2025
View Articletitled, Necessary and Sufficient Design Conditions for Overconstrained Cam Mechanisms With Flat-Faced and Roller Follower
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Topics: Design, Oscillations, Rollers, Displacement, Rotation, Mechanical admittance
Journal Articles

Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance

Available to Purchase
Sipeng Zhou, Zihan Pu, Shaoke Yuan, Yanqiong Fei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. July 2025, 17(7): 075003.
Paper No: JMR-24-1295
https://doi.org/10.1115/1.4068019
Published Online: March 10, 2025
View Articletitled, Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance
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Topics: Actuators, Airbags, Design, Kinematics, Muscle, Pneumatic actuators, Pressure, Robots, Rotation, Soft robots
Journal Articles

Performance Analysis of a Hexagon Rolling Mechanism With Single Degree of Freedom

Available to Purchase
Qianqian Zhang, Yezhuo Li, Shaoze Yan, Yan-an Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081001.
Paper No: JMR-24-1625
https://doi.org/10.1115/1.4068020
Published Online: March 10, 2025
View Articletitled, Performance Analysis of a Hexagon Rolling Mechanism With Single Degree of Freedom
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Topics: Design, Engineering prototypes, Simulation, Linkages
Journal Articles

The Synthesis of Spherical Four-Bars for Biomimetic Motion Through Complete Solutions for Approximate Rigid Body Guidance

Available to Purchase
Sam O’Connor, Mark Plecnik
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044517.
Paper No: JMR-24-1451
https://doi.org/10.1115/1.4066850
Published Online: February 27, 2025
View Articletitled, The Synthesis of Spherical Four-Bars for Biomimetic Motion Through Complete Solutions for Approximate Rigid Body Guidance
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Topics: Biomimetics, Errors, Kinematics, Optimization, Seas, Wings, Engineering prototypes, Rotation
Includes: Multimedia, Supplementary data
Journal Articles

Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators

Available to Purchase
Tong Liu, Xiaojie Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071004.
Paper No: JMR-24-1530
https://doi.org/10.1115/1.4067722
Published Online: February 11, 2025
View Articletitled, Inverse Design of Three-Dimensional Variable Curvature Pneumatic Soft Actuators
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Topics: Actuators, Buckling, Deformation, Design, Shapes, Simulation, Design methodology
Journal Articles

On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots

Open Access
Neel Shihora, Jared Lawson, Paul Moubarak, Maximilian Reese, Long Wang, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061013.
Paper No: JMR-24-1386
https://doi.org/10.1115/1.4067432
Published Online: January 20, 2025
View Articletitled, On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots
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Topics: Kinematics, Tension, Uncertainty, Wire, Design, End effectors, Robots
Journal Articles

Design and Analysis of a Bimanual Parallel Dexterous Hand With Cooperative Manipulation Capability

Available to Purchase
Donglai Xu, Sheng Guo, Fuqun Zhao, Xiaodong Jin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061014.
Paper No: JMR-24-1269
https://doi.org/10.1115/1.4067481
Published Online: January 20, 2025
View Articletitled, Design and Analysis of a Bimanual Parallel Dexterous Hand With Cooperative Manipulation Capability
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Topics: Design, Engineering prototypes, Jacobian matrices, Kinematics, Parallel mechanisms, Rotation, Stiffness, Shapes, Manufacturing, Pinch effect
Journal Articles

Design and Analysis of a Mobile Robot With Transformable Wheel-Legged Mechanism

Available to Purchase
Haibo Li, Zijian Xie, Yu Cao, Rong Zhang, Jianjun Qin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061015.
Paper No: JMR-24-1372
https://doi.org/10.1115/1.4067482
Published Online: January 20, 2025
View Articletitled, Design and Analysis of a Mobile Robot With Transformable Wheel-Legged Mechanism
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Topics: Robots, Wheels, Deformation, Design, Mobile robots
Journal Articles

Design of Rolling Motion for Snake-Like Robots Using Center-of-Gravity Shift

Free
Akio Yamano, Tsuyoshi Kimoto, Masakatsu Chiba
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061011.
Paper No: JMR-24-1225
https://doi.org/10.1115/1.4067307
Published Online: January 20, 2025
View Articletitled, Design of Rolling Motion for Snake-Like Robots Using Center-of-Gravity Shift
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Topics: Design, Robots, Servomotors, Optimization, Time series, Energy consumption, Center of mass, Pareto optimization
Journal Articles

Path Generative Model Based on Conditional β -Variational Auto Encoder for Four-Bar Mechanism Design

Available to Purchase
Anar Nurizada, Zhijie Lyu, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061004.
Paper No: JMR-24-1110
https://doi.org/10.1115/1.4067169
Published Online: December 12, 2024
View Articletitled, Path Generative Model Based on Conditional β -Variational Auto Encoder for Four-Bar Mechanism Design
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Topics: Artificial neural networks, Design, Kinematics, Linkages, Machine learning, Algorithms, Performance
Journal Articles

Design of an Underactuated, Flexure-Based Gripper, Actuated Through a Push–Pull Flexure

Open Access
Koen Dwarshuis, Jan de Jong, Dannis Brouwer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061009.
Paper No: JMR-24-1252
https://doi.org/10.1115/1.4067265
Published Online: December 12, 2024
View Articletitled, Design of an Underactuated, Flexure-Based Gripper, Actuated Through a Push–Pull Flexure
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Topics: Bending (Stress), Design, Grippers, Hinges
Includes: Supplementary data
Journal Articles

Topology Optimization of Compliant Grippers Based on Stress Constraints

Available to Purchase
Yunsong Du, Pengwei Zhang, Tiemin Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061001.
Paper No: JMR-24-1251
https://doi.org/10.1115/1.4067021
Published Online: November 22, 2024
View Articletitled, Topology Optimization of Compliant Grippers Based on Stress Constraints
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Topics: Design, Grippers, Stress, Topology optimization, Finite element analysis, Displacement, Gradient methods, Algorithms