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Journal Articles

Design of a Shape-Morphing Robot through the Parallel Mechanism with a Flexible Moving Platform

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Accepted Manuscript
Zhengtao Chen, Yanjun Wang, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics.
Paper No: JMR-25-1140
https://doi.org/10.1115/1.4069075
Published Online: July 2, 2025
View Articletitled, Design of a Shape-Morphing Robot through the Parallel Mechanism with a Flexible Moving Platform
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Topics: Design, Parallel mechanisms, Robots, Shapes
Journal Articles

A Geometric and Analytical Approach for the Error Modeling of a Pointing Parallel Mechanism

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Jianzhong Ding, Yiming Zhou, Chunjie Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2025, 17(10): 104501.
Paper No: JMR-24-1653
https://doi.org/10.1115/1.4068799
Published Online: June 27, 2025
View Articletitled, A Geometric and Analytical Approach for the Error Modeling of a Pointing Parallel Mechanism
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Topics: Errors, Modeling, Manipulators
Journal Articles

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

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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

Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace

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Jilong Xu, Fucai Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. July 2025, 17(7): 074502.
Paper No: JMR-24-1325
https://doi.org/10.1115/1.4067682
Published Online: March 4, 2025
View Articletitled, Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace
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Topics: Exoskeleton devices, Screws
Includes: Multimedia, Supplementary data
Journal Articles

A Systematic Procedure of Transfer Matrix Method to Analyze Compliant Mechanisms With Irregularly Connected Building Blocks

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Shilei Wu, Mingxiang Ling, Zhujin Jiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. July 2025, 17(7): 074501.
Paper No: JMR-24-1507
https://doi.org/10.1115/1.4067721
Published Online: February 11, 2025
View Articletitled, A Systematic Procedure of Transfer Matrix Method to Analyze Compliant Mechanisms With Irregularly Connected Building Blocks
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Topics: Bending (Stress), Blocks (Building materials), Compliant mechanisms, Modeling, Hinges, Errors, Design
Journal Articles

Theoretical Analysis of Workspace of a Hybrid Offset Joint

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Li Peiyi, Han Hasiaoqier, Lin Junwei, Chen Liheng, Wu Qingwen, Xu Zhenbang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2025, 17(2): 024501.
Paper No: JMR-24-1259
https://doi.org/10.1115/1.4067231
Published Online: December 19, 2024
View Articletitled, Theoretical Analysis of Workspace of a Hybrid Offset Joint
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Topics: Design, Manipulators, Robotics, Rotation, Theoretical analysis, Robots
Journal Articles

T 1 -Positions of Four-Bar Linkages

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Tanya Chugh, K. Rama Krishna
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2025, 17(5): 054501.
Paper No: JMR-24-1037
https://doi.org/10.1115/1.4067168
Published Online: December 12, 2024
View Articletitled, T 1 -Positions of Four-Bar Linkages
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Topics: Circuits, Linkages
Journal Articles

FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning

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Suraj Borate, Rwik Rana, Praveen Venkatesh, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104502.
Paper No: JMR-23-1444
https://doi.org/10.1115/1.4066129
Published Online: September 2, 2024
View Articletitled, FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning
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Topics: Algorithms, Collisions (Physics), Multi-robot systems, Path planning, Robots
Journal Articles

Magnetically-Actuated Endoluminal Soft Robot With Electroactive Polymer Actuation for Enhanced Gait Performance

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Jake A. Steiner, William S. Nagel, Kam K. Leang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104503.
Paper No: JMR-24-1050
https://doi.org/10.1115/1.4066130
Published Online: September 2, 2024
View Articletitled, Magnetically-Actuated Endoluminal Soft Robot With Electroactive Polymer Actuation for Enhanced Gait Performance
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Topics: Conducting polymers, Robots, Simulation, Deformation, Soft robots, Magnets, Polymers
Journal Articles

Design and Analysis of a New Non-Parasitic Parallel Mechanism for 2T1R Motion

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Huiping Shen, Yao Tang, Marco Ceccarelli, Ju Li, Tao Li, Hongbo He
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. January 2025, 17(1): 014501.
Paper No: JMR-23-1310
https://doi.org/10.1115/1.4065678
Published Online: June 18, 2024
View Articletitled, Design and Analysis of a New Non-Parasitic Parallel Mechanism for 2T1R Motion
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Topics: Design, Kinematics, Topology, Parallel mechanisms, Rotation
Journal Articles

Type Synthesis of a 3DOF Wrist Applying the Coupled-Input Cable-Driven Parallel Robot

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Shibo Liu, Jiangping Mei, Panfeng Wang, Fan Guo, Jiaxing Li, Shuai Wang, Ruizhi Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124502.
Paper No: JMR-23-1168
https://doi.org/10.1115/1.4065083
Published Online: April 23, 2024
View Articletitled, Type Synthesis of a 3DOF Wrist Applying the Coupled-Input Cable-Driven Parallel Robot
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Topics: Cables, Design, Topology, Winding (process), Robots, Actuators
Journal Articles

Hydrodynamic Performance Research of Underwater Oscillating Fin With the Compound Locomotion of Two Modes

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Qian Yin, Ming-hai Xia, Wen-bin Zhang, Yuan Luo, Jian-zhong Shang, Zi-rong Luo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124503.
Paper No: JMR-23-1584
https://doi.org/10.1115/1.4065137
Published Online: April 23, 2024
View Articletitled, Hydrodynamic Performance Research of Underwater Oscillating Fin With the Compound Locomotion of Two Modes
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Topics: Oscillations, Robots, Propulsion
Journal Articles

Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger

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Runming Zhang, Xuechao Chen, Yu Zhang, Zhangguo Yu, Qiang Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124501.
Paper No: JMR-23-1321
https://doi.org/10.1115/1.4065024
Published Online: March 29, 2024
View Articletitled, Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger
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Topics: Algorithms, Control equipment, Cycles, Feedback, Humanoid robots, Modeling, Robots, Center of mass, Robot motion
Journal Articles

Design and Reconfiguration Analysis of the Trunk Mechanism for a Reconfigurable Wheeled Mobile Platform

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Xinyu Teng, Yezhuo Li, Yang Liu, Yan-an Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054505.
Paper No: JMR-23-1738
https://doi.org/10.1115/1.4064740
Published Online: March 19, 2024
View Articletitled, Design and Reconfiguration Analysis of the Trunk Mechanism for a Reconfigurable Wheeled Mobile Platform
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Topics: Design, Engineering prototypes, Mobile robots, Screws, Simulation analysis, Motors, Wheels, Simulation, Space, Constraint equations
Journal Articles

Impact of the Bars Behavior on the Design of Soft Tensegrities

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Jérémy Sand, François Geiskopf, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104501.
Paper No: JMR-23-1373
https://doi.org/10.1115/1.4064572
Published Online: February 27, 2024
View Articletitled, Impact of the Bars Behavior on the Design of Soft Tensegrities
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Topics: Stiffness, Tensegrity, Cables, Design, Stress, Silicones, Steel
Journal Articles

A Multi-Objective Optimal Design Method for Gravity Compensators With Consideration of Minimizing Joint Reaction Forces

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Vu Linh Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2024, 16(8): 084501.
Paper No: JMR-23-1288
https://doi.org/10.1115/1.4064236
Published Online: January 11, 2024
View Articletitled, A Multi-Objective Optimal Design Method for Gravity Compensators With Consideration of Minimizing Joint Reaction Forces
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Topics: Design, Gravity (Force), Optimization, Springs, Torque, Design methodology, Engines, Motors
Journal Articles

Tapered Origami Tubes With Non-Planar Cross Sections

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Weilin Lv, Wansui Nie, Jianjun Zhang, Yutong Wang, Shijie Guo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. July 2024, 16(7): 074502.
Paper No: JMR-22-1589
https://doi.org/10.1115/1.4063749
Published Online: November 14, 2023
View Articletitled, Tapered Origami Tubes With Non-Planar Cross Sections
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Topics: Cross section (Physics), Kinematics, Linkages, Design, Construction, Engineering systems and industry applications
Journal Articles

Toward Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves

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Mahshid Mansouri, Elizabeth T. Hsiao-Wecksler, Girish Krishnan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. July 2024, 16(7): 074501.
Paper No: JMR-23-1066
https://doi.org/10.1115/1.4063573
Published Online: October 16, 2023
View Articletitled, Toward Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves
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Topics: Design, Particulate matter, Transportation systems, Traveling waves, Wavelength, Waves, Stiffness, Actuators
Journal Articles

Numerical and Experimental Study on Caudal Fin Oscillation Mode in Hemispherical Space

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Shuyan Wang, Yu Han, Zhiming Wu, Zhiliang Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054504.
Paper No: JMR-23-1038
https://doi.org/10.1115/1.4062862
Published Online: July 21, 2023
View Articletitled, Numerical and Experimental Study on Caudal Fin Oscillation Mode in Hemispherical Space
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Topics: Computer simulation, Lift (Fluid dynamics), Oscillations, Robotics, Rotation
Journal Articles

Development of a Base-Actuated Three-Rhombus Configured Remote Center of Motion Mechanism for Lumbar Puncture

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Yuzhou Duan, Jie Ling, Zhao Feng, Daojin Yao, Yuchuan Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054503.
Paper No: JMR-22-1386
https://doi.org/10.1115/1.4062761
Published Online: July 20, 2023
View Articletitled, Development of a Base-Actuated Three-Rhombus Configured Remote Center of Motion Mechanism for Lumbar Puncture
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Topics: Design, End effectors, Kinematics, Optimization, Needles, Errors, Linkages, Jacobian matrices, Engineering prototypes