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Journal Articles

Harnessing Biomechanical Energy Using Shoulder Exoskeleton: Electrical Energy Regeneration

Ali Nasr, John McPhee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091005.
Paper No: JMR-24-1224
https://doi.org/10.1115/1.4068430
Published Online: May 7, 2025
View Articletitled, Harnessing Biomechanical Energy Using Shoulder Exoskeleton: Electrical Energy Regeneration
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Topics: Engines, Exoskeleton devices, Motors, Torque, Dynamometers, Robotics
Journal Articles

SomerBot: A Two-Legged Somersaulting Robotic Climber With Compliant Footpad

Kadali Mani Sankar, Atul Thakur
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081009.
Paper No: JMR-24-1505
https://doi.org/10.1115/1.4068242
Published Online: April 3, 2025
View Articletitled, SomerBot: A Two-Legged Somersaulting Robotic Climber With Compliant Footpad
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Topics: Adhesion, Design, Robots, Energy consumption
Journal Articles

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

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

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

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

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
View Articletitled, 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

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
View Articletitled, The Bressesque Surface: Distribution of Screw Pitch
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Topics: Gears, Generators, Screws
Journal Articles

An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability

Prashanth Nagaraja, Sudheer Reddy Joharapuram, Bindusagar Malenahalli Ganesh, Basavaraj Herai Matt, Nikhil Umesh, Kiran Madrahalli Chidanandamurthy
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2025, 17(2): 025001.
Paper No: JMR-24-1020
https://doi.org/10.1115/1.4065796
Published Online: August 8, 2024
View Articletitled, An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability
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Topics: Robots, Wheels, Mobile robots, Actuators
Journal Articles

Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing

Chengleng Han, Lin Xu, Mohamed A. A. Abdelkareem, Jia Mi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021006.
Paper No: JMR-23-1606
https://doi.org/10.1115/1.4065891
Published Online: July 19, 2024
View Articletitled, Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing
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Topics: Chain, Cylinders, Design, Engines, Kinematics, Motors, Robots, Sliding mode control, Hydraulic cylinders, Trajectories (Physics)
Journal Articles

Load-Side Dynamics Introduces Complex Effects on Orthotic Actuator Performance in Benchmarking

Mingrui Sun, Denny Oetomo, Ying Tan, Dana Kulić, Tomislav Baček
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051012.
Paper No: JMR-23-1688
https://doi.org/10.1115/1.4067431
Published Online: February 10, 2024
View Articletitled, Load-Side Dynamics Introduces Complex Effects on Orthotic Actuator Performance in Benchmarking
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Topics: Actuators, Motors, Stiffness, Stress, Torque, Engines, Design, Springs, Control equipment, Knee
Journal Articles

Structural–Parametric Synthesis of the Planar Four-Bar and Six-Bar Function Generators With Revolute Joints

Zhumadil Baigunchekov, Med Amine Laribi, Giuseppe Carbone, Rustem Kaiyrov, Serik Tolenov, Nurdaulet Dosmagambet
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091001.
Paper No: JMR-23-1466
https://doi.org/10.1115/1.4064253
Published Online: February 1, 2024
View Articletitled, Structural–Parametric Synthesis of the Planar Four-Bar and Six-Bar Function Generators With Revolute Joints
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Topics: Generators
Journal Articles

Configuration Synthesis Method of Multi-Mode Parallel Mechanism Based on Variable Mobility Branch

Xueyuan Gao, Fujuan Li, Xueyan Han, Xinwang Liu, Shihua Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061003.
Paper No: JMR-23-1236
https://doi.org/10.1115/1.4062986
Published Online: August 16, 2023
View Articletitled, Configuration Synthesis Method of Multi-Mode Parallel Mechanism Based on Variable Mobility Branch
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Topics: Generators, Mechanical admittance, Parallel mechanisms
Journal Articles

Kinematical Approach to the Drilling Mechanisms for n -Sided Polygonal Holes

Francesco Sorge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031013.
Paper No: JMR-22-1394
https://doi.org/10.1115/1.4062914
Published Online: August 8, 2023
View Articletitled, Kinematical Approach to the Drilling Mechanisms for n -Sided Polygonal Holes
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Topics: Rotation, Rotors, Stators, Drilling
Journal Articles

Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger

Chun-Tse Lee, Jen-Yuan (James) Chang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041004.
Paper No: JMR-22-1011
https://doi.org/10.1115/1.4055061
Published Online: November 10, 2022
View Articletitled, Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger
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Topics: Design, Grasping, Motors, Robotics, Stiffness, Tendons, Springs, Engines, Torsion
Journal Articles

A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot

Wenqian Du, Mohamed Fnadi, Faïz Benamar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041005.
Paper No: JMR-22-1146
https://doi.org/10.1115/1.4055060
Published Online: November 10, 2022
View Articletitled, A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot
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Topics: Control equipment, Dynamics (Mechanics), Generators, Robots, Torque, Wheels, Kinematics, Surface roughness, Geometry
Journal Articles

An Energy-Saving Snake Locomotion Pattern Learned in a Physically Constrained Environment With Online Model-Based Policy Gradient Method

Yilang Liu, Amir Barati Farimani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041007.
Paper No: JMR-21-1517
https://doi.org/10.1115/1.4055167
Published Online: November 10, 2022
View Articletitled, An Energy-Saving Snake Locomotion Pattern Learned in a Physically Constrained Environment With Online Model-Based Policy Gradient Method
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Topics: Robots, Gradient methods
Journal Articles

Kinematic Analysis and Workspace Investigation of Novel 3-RPS/(H) Metamorphic Parallel Mechanism

Hai-bo Tian, Cheng-yu Wang, Hong-wei Ma, Jing Xia
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041008.
Paper No: JMR-22-1072
https://doi.org/10.1115/1.4055254
Published Online: November 10, 2022
View Articletitled, Kinematic Analysis and Workspace Investigation of Novel 3-RPS/(H) Metamorphic Parallel Mechanism
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Topics: Parallel mechanisms, Reactor protection systems, Screws, Kinematic analysis
Journal Articles

Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs

Xiao Li, Haibo Qu, Sheng Guo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021014.
Paper No: JMR-21-1753
https://doi.org/10.1115/1.4054767
Published Online: June 23, 2022
View Articletitled, Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs
Open the PDF for Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs in another window
Topics: Kinematics, Parallel mechanisms, Reactor protection systems, Load bearing capacity, Jacobian matrices, Manipulators, Design
Journal Articles

Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand

Côme Butin, Damien Chablat, Yannick Aoustin, David Gouaillier
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011003.
Paper No: JMR-21-1738
https://doi.org/10.1115/1.4054273
Published Online: April 25, 2022
View Articletitled, Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand
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Topics: Springs, Stress, Torque, Friction, Grasping, Design, Prostheses, Artificial limbs, Motors
Journal Articles

Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt

Lionel Étienne, Philippe Cardou, Marceau Métillon, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041006.
Paper No: JMR-21-1546
https://doi.org/10.1115/1.4054081
Published Online: April 21, 2022
View Articletitled, Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt
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Topics: Cables, Robots, Trajectories (Physics), Motors, Design
Journal Articles

Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs

Rafael Balderas Hill, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051004.
Paper No: JMR-21-1235
https://doi.org/10.1115/1.4053158
Published Online: February 18, 2022
View Articletitled, Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs
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Topics: Energy efficiency, Robots, Springs, Stiffness, Variable structure systems, Motors, Boundary-value problems