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Journal Articles

Conformal Geometric Algebra–Based Geometric Modeling Method for Forward Displacement Analysis of 6-4 Stewart Platforms

Ganmin Zhu, Shimin Wei, Duanling Li, Yingli Wang, Qizheng Liao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071009.
Paper No: JMR-23-1359
https://doi.org/10.1115/1.4063501
Published Online: October 20, 2023
View Article titled, Conformal Geometric Algebra–Based Geometric Modeling Method for Forward Displacement Analysis of 6-4 Stewart Platforms
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Topics: Algebra, Displacement, Geometric modeling, Constraint equations
Journal Articles

Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot

Qi Yang, Xinyu Liu, Ze Yu, Binbin Lian, Tao Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061011.
Paper No: JMR-23-1266
https://doi.org/10.1115/1.4063290
Published Online: October 4, 2023
View Article titled, Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot
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Topics: Cables, Friction, Kinematics, Robots, Optimization, Modeling, Displacement, Stiffness, Tensegrity, Mobile robots
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

Designing and Analyzing Multistable Mechanisms Using Quadrilateral Boundary Rigid Origami

Munkyun Lee, Yuki Miyajima, Tomohiro Tachi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011008.
Paper No: JMR-22-1487
https://doi.org/10.1115/1.4062132
Published Online: March 28, 2023
View Article titled, Designing and Analyzing Multistable Mechanisms Using Quadrilateral Boundary Rigid Origami
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Topics: Design, Displacement, Hinges, Linkages, Optimization, Stiffness, Mirrors
Journal Articles

On the Computation of Mean and Variance of Spatial Displacements

Qiaode Jeffrey Ge, Zihan Yu, Mona Arbab, Mark P. Langer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011006.
Paper No: JMR-22-1507
https://doi.org/10.1115/1.4057046
Published Online: March 28, 2023
View Article titled, On the Computation of Mean and Variance of Spatial Displacements
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Topics: Displacement, Rotation, Kinematics, Weight (Mass)
Journal Articles

Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments

Chenhao Lu, Yao Chen, Jiayi Yan, Jian Feng, Pooya Sareh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031001.
Paper No: JMR-22-1316
https://doi.org/10.1115/1.4056870
Published Online: March 8, 2023
View Article titled, Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments
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Topics: Algorithms, Design, Kinematics, Stiffness, Displacement, Deformation, Structural analysis
Journal Articles

Graphic Transfer Matrix Method for Kinetostatic and Dynamic Analyses of Compliant Mechanisms

Lei Yuan, Mingxiang Ling, Jianhao Lai, Hai Li, Xianmin Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021009.
Paper No: JMR-22-1220
https://doi.org/10.1115/1.4056827
Published Online: March 8, 2023
View Article titled, Graphic Transfer Matrix Method for Kinetostatic and Dynamic Analyses of Compliant Mechanisms
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Topics: Bending (Stress), Chain, Compliant mechanisms, Displacement, Hinges, Modeling, Stiffness
Journal Articles

Kinematics Analysis of 6-Degrees-of-Freedom Parallel + Serial Type Hybrid Mechanisms Containing Parallel Mechanism With High Coupling Motions

Bo Hu, Zhiyong Liu, Jinjun Zhao, Jingyu Zhao, Jiantao Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2024, 16(2): 024501.
Paper No: JMR-22-1419
https://doi.org/10.1115/1.4056673
Published Online: March 3, 2023
View Article titled, Kinematics Analysis of 6-Degrees-of-Freedom Parallel + Serial Type Hybrid Mechanisms Containing Parallel Mechanism With High Coupling Motions
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Topics: Displacement, Kinematics, Parallel mechanisms
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

Dynamic Stiffness Matrix With Timoshenko Beam Theory and Linear Frequency Solution for Use in Compliant Mechanisms

Mingxiang Ling, Hao Zhou, Liguo Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061002.
Paper No: JMR-22-1101
https://doi.org/10.1115/1.4056236
Published Online: January 17, 2023
View Article titled, Dynamic Stiffness Matrix With Timoshenko Beam Theory and Linear Frequency Solution for Use in Compliant Mechanisms
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Topics: Bending (Stress), Compliant mechanisms, Stiffness, Displacement, Timoshenko beam theory
Journal Articles

A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators

Sri Sadhan Jujjavarapu, Hemanth Manjunatha, Ehsan Tarkesh Esfahani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061003.
Paper No: JMR-22-1198
https://doi.org/10.1115/1.4056235
Published Online: January 17, 2023
View Article titled, A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators
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Topics: Hammers, Magnets, Robots, Stiffness, Trajectories (Physics), End effectors, Manipulators, Optimization, Displacement, Energy storage
Journal Articles

Topology Optimization Method for Designing Compliant Mechanism With Given Constant Force Range

Junwen Liang, Xianmin Zhang, Benliang Zhu, Hongchuan Zhang, Rixin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061008.
Paper No: JMR-21-1643
https://doi.org/10.1115/1.4056379
Published Online: January 17, 2023
View Article titled, Topology Optimization Method for Designing Compliant Mechanism With Given Constant Force Range
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Topics: Design, Optimization, Topology optimization, Displacement, Finite element analysis, Density, Compliant mechanisms
Journal Articles

Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism

Fanyi Guo, Zhili Sun, Shengnan Zhang, Runan Cao, Haiyang Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061007.
Paper No: JMR-22-1417
https://doi.org/10.1115/1.4056376
Published Online: January 17, 2023
View Article titled, Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism
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Topics: Damping, Stiffness, Displacement, Event history analysis, Excitation, Optimization, Failure, Probability, Reliability, Frequency response
Journal Articles

Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation

Carlos Saldarriaga, Imin Kao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051010.
Paper No: JMR-22-1144
https://doi.org/10.1115/1.4055966
Published Online: November 25, 2022
View Article titled, Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
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Topics: Equilibrium (Physics), Robots, Steady state, Damping, Dynamic response, Redundant manipulators, Stiffness, Displacement
Journal Articles

Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices

Anandaroop Lahiri, Phanisri P. Pratapa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051004.
Paper No: JMR-22-1305
https://doi.org/10.1115/1.4055742
Published Online: November 24, 2022
View Article titled, Folding-Angle Framework for Structural Modeling of Rigid Triangulated Miura-ori Lattices
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Topics: Deformation, Degrees of freedom, Equilibrium (Physics), Stiffness, Modeling, Displacement
Journal Articles

Design of Adjustable Constant Force/Torque Mechanisms for Medical Applications

Zhuoqi Cheng, Thiusius Rajeeth Savarimuthu, Shaohui Foong, U-Xuan Tan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2023, 15(2): 025001.
Paper No: JMR-21-1431
https://doi.org/10.1115/1.4054638
Published Online: June 21, 2022
View Article titled, Design of Adjustable Constant Force/Torque Mechanisms for Medical Applications
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Topics: Biomedicine, Design, Displacement, Optimization, Springs, Stiffness, Stress, Torque, Shapes
Journal Articles

A Structural Optimization Framework to Design Compliant Constant Force Mechanisms With Large Energy Storage

Haihua Ou, Haiping Yi, Zeeshan Qaiser, Tanzeel Ur Rehman, Shane Johnson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021008.
Paper No: JMR-21-1669
https://doi.org/10.1115/1.4054766
Published Online: June 21, 2022
View Article titled, A Structural Optimization Framework to Design Compliant Constant Force Mechanisms With Large Energy Storage
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Topics: Design, Displacement, Energy storage, Structural optimization, Topology, Stress, Shape optimization
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
Journal Articles

Locking Zipper-Coupled Origami Tubes for Deployable Energy Absorption

Zhongyuan Wo, Julia M. Raneses, Evgueni T. Filipov
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041007.
Paper No: JMR-21-1552
https://doi.org/10.1115/1.4054363
Published Online: May 2, 2022
View Article titled, Locking Zipper-Coupled Origami Tubes for Deployable Energy Absorption
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Topics: Absorption, Geometry, Stiffness, Buckling, Manufacturing, Design, Displacement
Journal Articles

Design of a Parallel Gripper Based on Topology Synthesis and Evolutionary Optimization

I-Ting Chi, Teeranoot Chanthasopeephan, Dung-An Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021008.
Paper No: JMR-21-1153
https://doi.org/10.1115/1.4052335
Published Online: September 21, 2021
View Article titled, Design of a Parallel Gripper Based on Topology Synthesis and Evolutionary Optimization
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Topics: Design, Displacement, End effectors, Grippers, Optimization, Topology, Compliant mechanisms, Finite element analysis