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Journal Articles

Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism

Hao Pan, Shujie Tang, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071015.
Paper No: JMR-23-1104
https://doi.org/10.1115/1.4063870
Published Online: November 14, 2023
View Article titled, Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism
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Topics: End effectors, Force control, Parallel mechanisms, Statics, Stiffness, Jacobian matrices, Simulation, Rods, Kinematics
Journal Articles

Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation

Sajeeva Abeywardena, Eisa Anwar, Stuart Charles Miller, Ildar Farkhatdinov
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061007.
Paper No: JMR-23-1039
https://doi.org/10.1115/1.4063094
Published Online: August 31, 2023
View Article titled, Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation
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Topics: Kinematics, Robotics, Simulation, Torque, Trajectories (Physics), Inertia (Mechanics), Design, Dynamics (Mechanics), Actuators, Displacement
Includes: Supplementary data
Journal Articles

Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints

Hasiaoqier Han, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031015.
Paper No: JMR-23-1118
https://doi.org/10.1115/1.4062984
Published Online: August 8, 2023
View Article titled, Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints
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Topics: Dynamics (Mechanics), Kinematics, Machinery, Chain, Simulation
Journal Articles

Implementing the Analytical Reachable Body Workspace for Calculating the Obstacle-Crossing Ability of a Hexapod Robot

Chenkun Qi, Huayang Li, Feng Gao, Xianbao Chen, Yue Zhao, Zhijun Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061017.
Paper No: JMR-22-1493
https://doi.org/10.1115/1.4062353
Published Online: May 2, 2023
View Article titled, Implementing the Analytical Reachable Body Workspace for Calculating the Obstacle-Crossing Ability of a Hexapod Robot
Open the PDF for Implementing the Analytical Reachable Body Workspace for Calculating the Obstacle-Crossing Ability of a Hexapod Robot in another window
Topics: Ditches, Robots, Simulation
Journal Articles

A Novel Transformable Leg-Wheel Mechanism

Zhong Wei, Peng Ping, Yong Luo, Jia Liu, Dapeng Chen, Weixi Wang, Huiyu Sun, Aiguo Song, Guangming Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031008.
Paper No: JMR-22-1164
https://doi.org/10.1115/1.4057069
Published Online: March 28, 2023
View Article titled, A Novel Transformable Leg-Wheel Mechanism
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Topics: Design, Knee, Simulation, Trajectories (Physics), Wheels, Legged locomotion, Robots, Kinematics, Actuators, Modeling
Journal Articles

Parameter Optimization of Foldable Flapping-Wing Mechanism for Maximum Lift

Hyeon-Ho Yang, Sang-Gil Lee, Reynolds Addo-Akoto, Jae-Hung Han
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031002.
Paper No: JMR-22-1371
https://doi.org/10.1115/1.4056869
Published Online: March 8, 2023
View Article titled, Parameter Optimization of Foldable Flapping-Wing Mechanism for Maximum Lift
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Topics: Optimization, Wings, Design, Kinematics, Simulation
Journal Articles

A Curved Compliant Differential Mechanism With Neutral Stability

Robin Mak, Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011003.
Paper No: JMR-22-1430
https://doi.org/10.1115/1.4056867
Published Online: March 3, 2023
View Article titled, A Curved Compliant Differential Mechanism With Neutral Stability
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Topics: Potential energy, Springs, Stability, Stiffness, Symmetry (Physics), Deformation, Simulation
Journal Articles

Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo

Hadi Yadavari, Vahid Tavakol Aghaei, Serhat İkizoğlu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035001.
Paper No: JMR-22-1256
https://doi.org/10.1115/1.4056971
Published Online: March 3, 2023
View Article titled, Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo
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Topics: Algorithms, Control equipment, Kinematics, Reinforcement learning, Robots, Simulation
Journal Articles

Design and Analysis of an Active Swing Decoupling Compliant Mechanism With Multiple Co-Directional Input Branches

Guoshuai Liu, Pengbo Liu, Peng Yan, Yushu Shi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021004.
Paper No: JMR-22-1437
https://doi.org/10.1115/1.4056674
Published Online: March 3, 2023
View Article titled, Design and Analysis of an Active Swing Decoupling Compliant Mechanism With Multiple Co-Directional Input Branches
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Topics: Compliant mechanisms, Design, Displacement, Hinges, Modeling, Rotation, Simulation, Finite element analysis, Deformation, Engineering prototypes
Journal Articles

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061014.
Paper No: JMR-22-1409
https://doi.org/10.1115/1.4056577
Published Online: January 23, 2023
View Article titled, Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control
Journal Articles

Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems

Fujie Yu, Qilong Zhu, Yuan Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064501.
Paper No: JMR-22-1280
https://doi.org/10.1115/1.4056378
Published Online: January 18, 2023
View Article titled, Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
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Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds
Journal Articles

Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles

Yiyu Chen, Lingchen Lian, Yu-Hsiu Hsieh, Quan Nguyen, Satyandra K. Gupta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051002.
Paper No: JMR-22-1230
https://doi.org/10.1115/1.4055625
Published Online: November 24, 2022
View Article titled, Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles
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Topics: Robots, Safety, Collisions (Physics), Trajectories (Physics), Simulation
Journal Articles

Dyno-Kinematic Leg Design for High Energy Robotic Locomotion

Max Austin, Jason Brown, John Nicholson, Jonathan Clark
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031001.
Paper No: JMR-22-1264
https://doi.org/10.1115/1.4055998
Published Online: November 8, 2022
View Article titled, Dyno-Kinematic Leg Design for High Energy Robotic Locomotion
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Topics: Design, Dynamics (Mechanics), Kinematics, Robots, Motors, Simulation, Linkages, Torque
Journal Articles

Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

Frederico Fernandes Afonso Silva, Juan José Quiroz-Omaña, Bruno Vilhena Adorno
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061005.
Paper No: JMR-21-1398
https://doi.org/10.1115/1.4054320
Published Online: September 14, 2022
View Article titled, Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
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Topics: Algebra, Algorithms, Manipulators, Robots, Robotics, Simulation, Dynamics (Mechanics)
Journal Articles

Design and Control of SLPM-Based Extensible Continuum Arm

Zheming Zhuang, Ze Zhang, Yuntao Guan, Wei Wei, Mi Li, Zhao Tang, Rongjie Kang, Zhibin Song, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061003.
Paper No: JMR-21-1741
https://doi.org/10.1115/1.4054996
Published Online: September 12, 2022
View Article titled, Design and Control of SLPM-Based Extensible Continuum Arm
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Topics: Control systems, Design, Engineering prototypes, Parallel mechanisms, Robots, Simulation, Springs, Cables, Stiffness, Screws
Journal Articles

Actuation Arrangement of Rigid Foldable Waterbomb Origami

Sen Wang, Dongbo Liang, Hailin Huang, Bing Li, Rongqiang Liu, Fengfeng Xi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2022, 14(6): 064501.
Paper No: JMR-21-1554
https://doi.org/10.1115/1.4055059
Published Online: September 12, 2022
View Article titled, Actuation Arrangement of Rigid Foldable Waterbomb Origami
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Topics: Degrees of freedom, Kinematics, Simulation, Computer software, Design
Journal Articles

Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase

Chenyang Zhang, Guangrong Chen, Zijia Li, Xiaohang Qiu, Sheng Guo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2023, 15(2): 024501.
Paper No: JMR-21-1681
https://doi.org/10.1115/1.4054616
Published Online: June 21, 2022
View Article titled, Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase
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Topics: Vehicles, Wheelbase, Design, Wheels, Steering wheels, Simulation, Kinematics
Journal Articles

A Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator

Sicong Liu, Jianhui Liu, Kehan Zou, Xiaocheng Wang, Zhonggui Fang, Juan Yi, Zheng Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2022, 14(6): 060912.
Paper No: JMR-21-1722
https://doi.org/10.1115/1.4054731
Published Online: June 21, 2022
View Article titled, A Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator
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Topics: Actuators, Design, Kinematics, Manipulators, Manufacturing, Robotics, Simulation, Rotation, Mechanical admittance, Elongation
Journal Articles

Three Degrees of Freedom-Based Master–Slave Uterine Manipulation Robot System for Laparoscopic Hysterectomy

Van Sy Nguyen, Bohyun Hwang, Sangmin Lee, Sooyoung Kim, Byungkyu Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021001.
Paper No: JMR-21-1385
https://doi.org/10.1115/1.4054608
Published Online: June 20, 2022
View Article titled, Three Degrees of Freedom-Based Master–Slave Uterine Manipulation Robot System for Laparoscopic Hysterectomy
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Topics: Design, Manipulators, Robots, Simulation, Stress, Kinematics, Actuators, Cancer, Servomechanisms
Journal Articles

Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation

Patrick McGowan, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2023, 15(1): 015002.
Paper No: JMR-21-1763
https://doi.org/10.1115/1.4054551
Published Online: June 6, 2022
View Article titled, Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation
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Topics: Compliant mechanisms, Design, Displacement, Grippers, Optimization, Simulation