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Journal Articles

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

Accepted Manuscript
Kadali Sankar, Atul Thakur
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1505
https://doi.org/10.1115/1.4068242
Published Online: March 18, 2025
View Article titled, SomerBot: A Two-Legged Somersaulting Robotic Climber with Compliant Footpad
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Topics: Additive manufacturing, Adhesion, Design, Energy conservation, Energy efficiency, Engines, Inspection, Laser cutting, Manufacturing, Mobile robots
Journal Articles

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

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 Article titled, 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

DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation

Alberto Parmiggiani, Emilio Ottonello, Seyyed Masoud Kargar, Mario Baggetta, Guangbo Hao, Giovanni Berselli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111011.
Paper No: JMR-23-1682
https://doi.org/10.1115/1.4065780
Published Online: July 22, 2024
View Article titled, DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation
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Topics: Additive manufacturing, Design, Robots, Stiffness, Errors, Stress, End effectors, Simulation
Journal Articles

Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator

Xuyang Duan, Wei Yan, Tianyi Yan, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011004.
Paper No: JMR-24-1033
https://doi.org/10.1115/1.4065563
Published Online: June 18, 2024
View Article titled, Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator
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Topics: Deflection, Design, End effectors, Engineering prototypes, Errors, Finite element analysis, Manipulators, Modeling, Servomotors, Trajectories (Physics)
Journal Articles

Analytical Modeling and Validation of New Prismatic Compliant Joints Based on Zero Poisson’s Ratio Lattice Structures

Mauricio Arredondo-Soto, Enrique Cuan-Urquizo, Alfonso Gómez-Espinosa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111008.
Paper No: JMR-23-1597
https://doi.org/10.1115/1.4065257
Published Online: May 10, 2024
View Article titled, Analytical Modeling and Validation of New Prismatic Compliant Joints Based on Zero Poisson’s Ratio Lattice Structures
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Topics: Compliant mechanisms, Design, Displacement, Equilibrium (Physics), Finite element analysis, Poisson ratio, Simulation, Stiffness, Theorems (Mathematics), Modeling
Journal Articles

New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer

Miguel De La Melena, Shawn Duan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091012.
Paper No: JMR-23-1689
https://doi.org/10.1115/1.4065082
Published Online: May 10, 2024
View Article titled, New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer
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Topics: Design, End effectors, Engineering prototypes, Equations of motion, Finite element analysis, Kinematics, Manipulators, Optimization, Testing, Degrees of freedom
Journal Articles

Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints

Siyuan Ye, Pengyuan Zhao, Shiyao Li, Fatemeh Kavousi, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091005.
Paper No: JMR-23-1456
https://doi.org/10.1115/1.4064368
Published Online: February 1, 2024
View Article titled, Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints
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Topics: Design, Displacement, Finite element analysis, Modeling, Stress, Manufacturing, Stiffness, Additive manufacturing
Journal Articles

kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries

Marios Vasileiou, Nikolaos Manos, Nikos Vasilopoulos, Anastasia Douma, Ergina Kavallieratou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041003.
Paper No: JMR-23-1169
https://doi.org/10.1115/1.4062355
Published Online: May 2, 2023
View Article titled, kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries
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Topics: Additive manufacturing, Autonomous underwater vehicles, Design, Flow simulation, Inspection, Mechanical admittance, Underwater vehicles, Vehicles, Robots, Navigation
Journal Articles

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064502.
Paper No: JMR-22-1356
https://doi.org/10.1115/1.4056502
Published Online: January 23, 2023
View Article titled, Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
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Topics: Cables, Calibration, Degrees of freedom, Design, Laparoscopic devices, Robotics, Robots, Surgery, Motion control, Finite element analysis
Journal Articles

Kinematics of a Cable-Driven Robotic Platform for Large-Scale Additive Manufacturing

Phillip C. Chesser, Peter L. Wang, Joshua E. Vaughan, Randall F. Lind, Brian K. Post
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021010.
Paper No: JMR-21-1130
https://doi.org/10.1115/1.4052010
Published Online: September 23, 2021
View Article titled, Kinematics of a Cable-Driven Robotic Platform for Large-Scale Additive Manufacturing
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Topics: Additive manufacturing, Cables, Kinematics, Robotics, Robots
Journal Articles

Geometric Constraint-Based Reconfiguration and Self-Motions of a Four-CRU Parallel Mechanism

Latifah Nurahmi, Pradiktio Putrayudanto, Guowu Wei, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021017.
Paper No: JMR-20-1279
https://doi.org/10.1115/1.4049879
Published Online: March 4, 2021
View Article titled, Geometric Constraint-Based Reconfiguration and Self-Motions of a Four-CRU Parallel Mechanism
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Topics: Design, Parallel mechanisms, Additive manufacturing, Printing, Shapes
Journal Articles

Needle-Size Bending Actuators Based on Controlled Nitinol Curvatures and Elastic Structures

Manivannan Sivaperuman Kalairaj, Bok Seng Yeow, Chwee Ming Lim, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031015.
Paper No: JMR-19-1028
https://doi.org/10.1115/1.4045646
Published Online: February 18, 2020
View Article titled, Needle-Size Bending Actuators Based on Controlled Nitinol Curvatures and Elastic Structures
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Topics: Actuators, Deflection, Engineering prototypes, Nickel titanium alloys, Springs, Wire, Additive manufacturing, Manipulators, Temperature
Includes: Supplementary data
Journal Articles

Design and Optimization of a Three Degrees-of-Freedom Spatial Motion Compliant Parallel Mechanism With Fully Decoupled Motion Characteristics

Minh Tuan Pham, Song Huat Yeo, Tat Joo Teo, Pan Wang, Mui Ling Sharon Nai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051010.
Paper No: JMR-19-1046
https://doi.org/10.1115/1.4043925
Published Online: July 12, 2019
View Article titled, Design and Optimization of a Three Degrees-of-Freedom Spatial Motion Compliant Parallel Mechanism With Fully Decoupled Motion Characteristics
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Topics: Degrees of freedom, Design, Optimization, Parallel mechanisms, Stiffness, Dynamics (Mechanics), Additive manufacturing, Engineering prototypes
Journal Articles

Layer-Jamming Suction Grippers With Variable Stiffness

Abhishek Bamotra, Pushpinder Walia, Avataram Venkatavaradan Prituja, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 035003.
Paper No: JMR-18-1229
https://doi.org/10.1115/1.4042630
Published Online: April 11, 2019
View Article titled, Layer-Jamming Suction Grippers With Variable Stiffness
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Topics: Grippers, Stiffness, Suction, Weight (Mass), Additive manufacturing, Manufacturing
Journal Articles

A Three-Dimensional Printed, Nonassembly, Passive Dynamic Walking Toy: Design and Analysis

Christian L. Treviño, Joseph D. Galloway, II, Pranav A. Bhounsule
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061009.
Paper No: JMR-17-1211
https://doi.org/10.1115/1.4040634
Published Online: September 21, 2018
View Article titled, A Three-Dimensional Printed, Nonassembly, Passive Dynamic Walking Toy: Design and Analysis
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Topics: Additive manufacturing, Design, Hinges, Stability
Includes: Supplementary data
Journal Articles

Novel Design and Three-Dimensional Printing of Variable Stiffness Robotic Grippers

Yang Yang, Yonghua Chen, Ying Wei, Yingtian Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061010.
Paper No: JMR-15-1286
https://doi.org/10.1115/1.4033728
Published Online: September 8, 2016
View Article titled, Novel Design and Three-Dimensional Printing of Variable Stiffness Robotic Grippers
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Topics: Actuators, Deflection, Design, Stiffness, Pressure, Additive manufacturing, Manufacturing, Grippers
Journal Articles

Facilitating Deployable Mechanisms and Structures Via Developable Lamina Emergent Arrays

Todd G. Nelson, Robert J. Lang, Nathan A. Pehrson, Spencer P. Magleby, Larry L. Howell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2016, 8(3): 031006.
Paper No: JMR-15-1169
https://doi.org/10.1115/1.4031901
Published Online: March 7, 2016
View Article titled, Facilitating Deployable Mechanisms and Structures Via Developable Lamina Emergent Arrays
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Topics: Displacement, Geometry, Stiffness, Stress, Tension, Torsion, Additive manufacturing, Compression, Hinges, Design
Journal Articles

Rapid Manufacture of Novel Variable Impedance Robots

Alexander Enoch, Sethu Vijayakumar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011003.
Paper No: JMR-14-1190
https://doi.org/10.1115/1.4030388
Published Online: August 18, 2015
View Article titled, Rapid Manufacture of Novel Variable Impedance Robots
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Topics: Additive manufacturing, Design, Robots, Stiffness
Journal Articles

Hybrid Deposition Manufacturing: Design Strategies for Multimaterial Mechanisms Via Three-Dimensional Printing and Material Deposition

Raymond R. Ma, Joseph T. Belter, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021002.
Paper No: JMR-14-1192
https://doi.org/10.1115/1.4029400
Published Online: May 1, 2015
View Article titled, Hybrid Deposition Manufacturing: Design Strategies for Multimaterial Mechanisms Via Three-Dimensional Printing and Material Deposition
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Topics: Additive manufacturing, Design, Manufacturing, Cavities, Resins, Urethane elastomers
Journal Articles

Printing Three-Dimensional Electrical Traces in Additive Manufactured Parts for Injection of Low Melting Temperature Metals

John P. Swensen, Lael U. Odhner, Brandon Araki, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021004.
Paper No: JMR-14-1236
https://doi.org/10.1115/1.4029435
Published Online: May 1, 2015
View Article titled, Printing Three-Dimensional Electrical Traces in Additive Manufactured Parts for Injection of Low Melting Temperature Metals
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Topics: Additive manufacturing, Circuits, Liquid metals, Metals, Printing, Flow (Dynamics), Design