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Journal Articles

Cable Tension Minimization of a Redundant Cable-Driven Robot With Flexible End Effector

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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. October 2025, 17(10): 101003.
Paper No: JMR-25-1058
https://doi.org/10.1115/1.4068610
Published Online: May 23, 2025
View Articletitled, Cable Tension Minimization of a Redundant Cable-Driven Robot With Flexible End Effector
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Topics: Cables, Robots, Tension, Deflection, Design
Journal Articles

Design and Control of a Piezo-Driven z - θ x - θ y Parallel Nanopositioning Stage With Two-Stage Rhombic Amplification Structure

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Shengdian Zhang, Yuguo Cui, Yiling Yang, Keke Dong, Qifang Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091010.
Paper No: JMR-24-1511
https://doi.org/10.1115/1.4068477
Published Online: May 7, 2025
View Articletitled, Design and Control of a Piezo-Driven z - θ x - θ y Parallel Nanopositioning Stage With Two-Stage Rhombic Amplification Structure
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Topics: Control equipment, Design, Displacement, Feedforward control, Modeling, Optimization, Finite element analysis, Dynamic response, Resolution (Optics), Errors
Journal Articles

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

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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

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
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Topics: Cables, Kinematics, Robots, End effectors, Springs, Dynamics (Mechanics), Modeling
Journal Articles

Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance

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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

Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

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Milad Azizkhani, Junhyoung Ha, Anthony L. Gunderman, Yue Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071013.
Paper No: JMR-24-1405
https://doi.org/10.1115/1.4067753
Published Online: February 28, 2025
View Articletitled, Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution
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Topics: Algorithms, Kinematics, Redundancy (Engineering), Resolution (Optics), Soft robots, Robots, Robotics, Simulation, Errors
Journal Articles

Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator

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Kendall Koe, Samhita Marri, Benjamin Walt, Shivani Kamtikar, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071010.
Paper No: JMR-24-1069
https://doi.org/10.1115/1.4067872
Published Online: February 27, 2025
View Articletitled, Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator
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Topics: Control equipment, Dynamics (Mechanics), End effectors, Errors, Manipulators, Stress, Trajectories (Physics), Optimization, Robotics, Architecture
Journal Articles

Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons

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Yu Wang, Jian Li, Peng Liang, Riwei Ye
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071011.
Paper No: JMR-24-1474
https://doi.org/10.1115/1.4067874
Published Online: February 27, 2025
View Articletitled, Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons
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Topics: Cables, Exoskeleton devices, Knee, Dynamics (Mechanics), Cycles, Stiffness, Displacement
Journal Articles

Active Cables Selection for Collocated Vibration Control of Small-Sized Overconstrained Cable-Driven Parallel Robots

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Thibault Garcia, Didier Rémond, Simon Chesné
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071001.
Paper No: JMR-24-1285
https://doi.org/10.1115/1.4067622
Published Online: February 10, 2025
View Articletitled, Active Cables Selection for Collocated Vibration Control of Small-Sized Overconstrained Cable-Driven Parallel Robots
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Topics: Cables
Journal Articles

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

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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

Cable Force Distribution and Motion Control for a Cable-Driven Super-Redundant Robot Under Stiffness Constraints

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Guiben Tuo, Yongqing Wang, Te Li, Zhenye Shang, Xu Li, Haibo Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061012.
Paper No: JMR-24-1371
https://doi.org/10.1115/1.4067346
Published Online: January 20, 2025
View Articletitled, Cable Force Distribution and Motion Control for a Cable-Driven Super-Redundant Robot Under Stiffness Constraints
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Topics: Cables, Robots, Stiffness, Motion control, Tension, Optimization
Journal Articles

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

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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

Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation

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Lihong Zhu, Can Cui, Dong Zhang, Jiamin Tan, Changxing Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061010.
Paper No: JMR-23-1792
https://doi.org/10.1115/1.4067305
Published Online: December 12, 2024
View Articletitled, Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation
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Topics: Cables, Exoskeleton devices, Pulleys, Design
Journal Articles

State-Space Basins for Monopedal Jumping With Stable Landing

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Sameer A. Upadhye, Justin K. Yim, William Z. Peng, Hyunjong Song, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044513.
Paper No: JMR-24-1457
https://doi.org/10.1115/1.4066981
Published Online: November 22, 2024
View Articletitled, State-Space Basins for Monopedal Jumping With Stable Landing
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Topics: Flight, Robots, Stability, Optimization, Dynamics (Mechanics)
Journal Articles

Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input

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Junho Hong, Daehie Hong, Chanwoo Kim, Seong Hyeon Won
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051009.
Paper No: JMR-24-1154
https://doi.org/10.1115/1.4067020
Published Online: November 22, 2024
View Articletitled, Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input
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Topics: Feedforward control, Modeling, Shapes, Tendons, Calibration, Deformation, Degrees of freedom
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 Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands

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Thiha Zaw, Dasharadhan Mahalingam, Nicholas Baiata, Aditya Patankar, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044512.
Paper No: JMR-24-1456
https://doi.org/10.1115/1.4067024
Published Online: November 22, 2024
View Articletitled, Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands
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Topics: Design, Kinematic analysis, Kinematics, Motors, Robotics, Position control, Jacobian matrices
Journal Articles

Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter

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Eeshan Kulkarni, Suresh Sundaram
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061003.
Paper No: JMR-24-1239
https://doi.org/10.1115/1.4067068
Published Online: November 22, 2024
View Articletitled, Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter
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Topics: Control equipment, Design, Dynamics (Mechanics), Flight, Mechanical drives, Motors, Propellers, Servomotors, Weight (Mass), Torque
Journal Articles

Parallel Force Feedback Device Design With Constant Jacobian Matrix and Net Weight Fully Balanced

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Zhaopeng Jin, Yanzhi Zhao, Yajun Liu, Yu Shan, Yue Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051003.
Paper No: JMR-23-1538
https://doi.org/10.1115/1.4066744
Published Online: November 1, 2024
View Articletitled, Parallel Force Feedback Device Design With Constant Jacobian Matrix and Net Weight Fully Balanced
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Topics: Design, Engineering prototypes, Force feedback, Gravity (Force), Jacobian matrices, Parallel mechanisms, Simulation, Weight (Mass)
Journal Articles

Cooperative Object Transport Via Non-Contact Prehensile Pushing by Magnetic Forces

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Halil İbrahim Dokuyucu, Nurhan Gürsel Özmen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051004.
Paper No: JMR-24-1052
https://doi.org/10.1115/1.4066804
Published Online: November 1, 2024
View Articletitled, Cooperative Object Transport Via Non-Contact Prehensile Pushing by Magnetic Forces
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Topics: Magnetic fields, Robots, Control equipment, Simulation, Transportation systems, Wheels, Shapes