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Journal Articles

A kinematically decoupled 6-DOF nanopositioning stage with minimised crosstalk based on flexure hinges

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Accepted Manuscript
Qianjun Zhang, Hui Dong, Zhicheng Zhang, Xinyu Cai, Yongzhuo Gao, Wei Dong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-25-1106
https://doi.org/10.1115/1.4069200
Published Online: July 18, 2025
View Article titled, A kinematically decoupled 6-DOF nanopositioning stage with minimised crosstalk based on flexure hinges
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Topics: Bending (Stress), Hinges, Design, Conceptual design, Control equipment, Dynamics (Mechanics), Engineering prototypes, Kinematics, Modeling, Optimization
Journal Articles

Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra

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Yu Xiao, Lingmin Xu, Guochang Zheng, Qinchuan Li, Xinxue Chai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061006.
Paper No: JMR-24-1461
https://doi.org/10.1115/1.4067230
Published Online: December 12, 2024
View Article titled, Singularity Analysis Method of Multi-Loop Coupling Mechanism Using Geometric Algebra
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Topics: Algebra, Blades, Kinematics, Screws, Polynomials
Journal Articles

Complete Solutions for the Approximate Synthesis of Spherical Four-Bar Function Generators

Free
Sam O’Connor, Mark Plecnik, Aravind Baskar, James Joo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111010.
Paper No: JMR-23-1690
https://doi.org/10.1115/1.4064835
Published Online: May 23, 2024
View Article titled, Complete Solutions for the Approximate Synthesis of Spherical Four-Bar Function Generators
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Topics: Design, Generators, Optimization, Polynomials, Wings, Kinematics, Dimensions
Journal Articles

Classification of 3-Degree-of-Freedom 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover

Open Access
Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041010.
Paper No: JMR-21-1541
https://doi.org/10.1115/1.4054307
Published Online: June 6, 2022
View Article titled, Classification of 3-Degree-of-Freedom 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover
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Topics: Parallel mechanisms, Polynomials, Constraint equations
Journal Articles

Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions

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Kai Liu, Jingjun Yu, Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021009.
Paper No: JMR-21-1166
https://doi.org/10.1115/1.4052338
Published Online: September 21, 2021
View Article titled, Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions
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Topics: Algebra, Polynomials, Chain, Kinematics
Journal Articles

Direct Kinematic Analysis of the Spatial Parallel Mechanism With 3-R(P)S Structure Based on the Point Pair Relationship

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Ganmin Zhu, Shimin Wei, Ying Zhang, Qizheng Liao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061011.
Paper No: JMR-20-1479
https://doi.org/10.1115/1.4050930
Published Online: June 4, 2021
View Article titled, Direct Kinematic Analysis of the Spatial Parallel Mechanism With 3-R(P)S Structure Based on the Point Pair Relationship
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Topics: Algebra, Geometric modeling, Kinematic analysis, Kinematic chains, Kinematics, Parallel mechanisms, Polynomials, Reactor protection systems
Journal Articles

Synthesis of Watt-Type Timed Curve Generators and Selection From Continuous Cognate Spaces

Free
Aravind Baskar, Mark Plecnik
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 051003.
Paper No: JMR-20-1357
https://doi.org/10.1115/1.4050197
Published Online: May 20, 2021
View Article titled, Synthesis of Watt-Type Timed Curve Generators and Selection From Continuous Cognate Spaces
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Topics: Design, Generators, Linkages, Polynomials, Tradeoffs, Clearances (Engineering), Rotation, End effectors, Space, Kinematics
Journal Articles

Classification of a 3-RER Parallel Manipulator Based on the Type and Number of Operation Modes

Open Access
Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021013.
Paper No: JMR-20-1019
https://doi.org/10.1115/1.4048262
Published Online: February 16, 2021
View Article titled, Classification of a 3-RER Parallel Manipulator Based on the Type and Number of Operation Modes
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Topics: Manipulators, Rotation, Kinematics, Polynomials
Journal Articles

Synthesis of Six-Bar Timed Curve Generators of Stephenson-Type Using Random Monodromy Loops

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Aravind Baskar, Mark Plecnik
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011005.
Paper No: JMR-20-1072
https://doi.org/10.1115/1.4047871
Published Online: August 17, 2020
View Article titled, Synthesis of Six-Bar Timed Curve Generators of Stephenson-Type Using Random Monodromy Loops
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Topics: Computation, Design, Generators, Kinematics, Linkages, Polynomials, Rotation
Journal Articles

Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming

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Wankun Sirichotiyakul, Volkan Patoglu, Aykut C. Satici
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061004.
Paper No: JMR-19-1546
https://doi.org/10.1115/1.4046997
Published Online: May 11, 2020
View Article titled, Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming
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Topics: Approximation, Computer programming, Kinematics, Manipulators, Optimization, Polynomials, End effectors, Parallel mechanisms, Silicon-on-sapphire
Journal Articles

Reconfigurability Analysis of a Class of Parallel Kinematics Machines

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Luca Carbonari, Daniele Costa, Giacomo Palmieri, Matteo-Claudio Palpacelli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 021002.
Paper No: JMR-18-1247
https://doi.org/10.1115/1.4042348
Published Online: February 27, 2019
View Article titled, Reconfigurability Analysis of a Class of Parallel Kinematics Machines
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Topics: Kinematics, Machinery, Mechanical admittance, Polynomials, Robots, Design, End effectors, Universal joints, Manipulators
Journal Articles

Kinematic Analysis of Mechanisms Based on Parametric Polynomial System: Basic Concept of a Method Using Gröbner Cover and Its Application to Planar Mechanisms

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Keisuke Arikawa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020906.
Paper No: JMR-18-1371
https://doi.org/10.1115/1.4042475
Published Online: February 22, 2019
View Article titled, Kinematic Analysis of Mechanisms Based on Parametric Polynomial System: Basic Concept of a Method Using Gröbner Cover and Its Application to Planar Mechanisms
Open the PDF for Kinematic Analysis of Mechanisms Based on Parametric Polynomial System: Basic Concept of a Method Using Gröbner Cover and Its Application to Planar Mechanisms in another window
Topics: Linkages, Polynomials, Kinematic analysis, Trusses (Building)
Journal Articles

Reconfiguration Analysis of Multimode Single-Loop Spatial Mechanisms Using Dual Quaternions

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Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051002.
Paper No: JMR-16-1273
https://doi.org/10.1115/1.4037111
Published Online: August 4, 2017
View Article titled, Reconfiguration Analysis of Multimode Single-Loop Spatial Mechanisms Using Dual Quaternions
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Topics: Algebra, Circuits, Geometry, Kinematics, Polynomials, Robots, Kinematic analysis, Robotics, Computers
Journal Articles

Finding Only Finite Roots to Large Kinematic Synthesis Systems

Free
Mark M. Plecnik, Ronald S. Fearing
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021005.
Paper No: JMR-16-1319
https://doi.org/10.1115/1.4035967
Published Online: March 9, 2017
View Article titled, Finding Only Finite Roots to Large Kinematic Synthesis Systems
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Topics: Kinematics, Linkages, Polynomials
Journal Articles

Analytical Determination of the Proximity of Two Right-Circular Cylinders in Space

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Saurav Agarwal, Rangaprasad Arun Srivatsan, Sandipan Bandyopadhyay
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041010.
Paper No: JMR-15-1218
https://doi.org/10.1115/1.4032211
Published Online: March 8, 2016
View Article titled, Analytical Determination of the Proximity of Two Right-Circular Cylinders in Space
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Topics: Algorithms, Cylinders, Disks, Computation, Polynomials
Journal Articles

Spatial Straight-Line Linkages by Factorization of Motion Polynomials

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Zijia Li, Josef Schicho, Hans-Peter Schröcker
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021002.
Paper No: JMR-14-1297
https://doi.org/10.1115/1.4031806
Published Online: November 24, 2015
View Article titled, Spatial Straight-Line Linkages by Factorization of Motion Polynomials
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Topics: Linkages, Polynomials, Trajectories (Physics)
Journal Articles

Four-Pose Synthesis of Angle-Symmetric 6R Linkages

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Gábor Hegedüs, Josef Schicho, Hans-Peter Schröcker
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041006.
Paper No: JMR-13-1185
https://doi.org/10.1115/1.4029186
Published Online: November 1, 2015
View Article titled, Four-Pose Synthesis of Angle-Symmetric 6R Linkages
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Topics: Interpolation, Linkages, Polynomials, Rotation
Journal Articles

A Polynomial Formulation of Inverse Kinematics of Rolling Contact

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Lei Cui, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041003.
Paper No: JMR-13-1116
https://doi.org/10.1115/1.4029498
Published Online: November 1, 2015
View Article titled, A Polynomial Formulation of Inverse Kinematics of Rolling Contact
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Topics: Kinematics, Polynomials, Rolling contact, Rotation, Geometry, Torsion, Approximation, Particle spin, Spin (Aerodynamics)
Journal Articles

Rational Interpolation of Car Motions

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J. M. Selig
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2015, 7(3): 031023.
Paper No: JMR-13-1167
https://doi.org/10.1115/1.4030298
Published Online: August 1, 2015
View Article titled, Rational Interpolation of Car Motions
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Topics: Automobiles, Interpolation, Kinematics, Lie algebras, Polynomials, Optimization, Wheels, Equations of motion
Journal Articles

Designing Folding Rings Using Polynomial Continuation

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Andrew D. Viquerat, Simon D. Guest
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2014, 6(1): 011005.
Paper No: JMR-12-1218
https://doi.org/10.1115/1.4025857
Published Online: December 27, 2013
View Article titled, Designing Folding Rings Using Polynomial Continuation
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Topics: Design, Hinges, Polynomials