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Journal Articles

Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced

Zhaopeng Jin, Yanzhi Zhao, Yajun Liu, Yu Shan, Yue Sun

Publisher: ASME

J. Mechanisms Robotics.

Paper No: JMR-23-1538

https://doi.org/10.1115/1.4066744

Published Online: September 30, 2024

... addresses the fundamental reduction of errors caused by real-time force and position mapping solving but also enhances operational transparency. Finally, simulation and experimental tests are conducted to validate the proposed theory. Contributed by the Mechanisms and Robotics Committee of ASME...

View Article titled, Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced

Topics: Design, Force feedback, Jacobian matrices, Weight (Mass), Errors, Robots, Transparency, Engineering prototypes, Feedback, Gravity (Force)

Journal Articles

Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators

Zhiguang Xing, Guoguo Yang, Pengyuan Wang, Zheng Zheng, Jianwen Zhao

Publisher: ASME

J. Mechanisms Robotics. March 2025, 17(3): 031010.

Paper No: JMR-23-1702

https://doi.org/10.1115/1.4066098

Published Online: September 20, 2024

... of configuration space variables under the conditions that we have given the position and direction vectors of the tip of the continuum manipulator (i.e., we constrain five DOF). Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics...

View Article titled, Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators

Topics: Kinematics, Manipulators, Algorithms, Robots

Journal Articles

A Screw Theory Approach for Instantaneous Kinematic Analysis of Parallel–Serial Manipulators

Anton V. Antonov, Alexey S. Fomin

Publisher: ASME

J. Mechanisms Robotics. March 2025, 17(3): 031009.

Paper No: JMR-24-1187

https://doi.org/10.1115/1.4066134

Published Online: September 20, 2024

View Article titled, A Screw Theory Approach for Instantaneous Kinematic Analysis of Parallel–Serial Manipulators

Topics: Manipulators, Parallel mechanisms

Journal Articles

Evolution Design of Multiple Metamorphic Mechanisms Inspired by the Concept of Assur Group

Yuan Gao, Xi Kang, Bing Li

Publisher: ASME

J. Mechanisms Robotics. March 2025, 17(3): 031013.

Paper No: JMR-24-1044

https://doi.org/10.1115/1.4066401

Published Online: September 20, 2024

... 1 sin θ 7 − 2 cos α sin θ 1 cos θ 7 Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 20 01 2024 23 08 2024 23 08 2024 20 09 2024 Email: 23b953008...

View Article titled, Evolution Design of Multiple Metamorphic Mechanisms Inspired by the Concept of Assur Group

Topics: Bifurcation, Construction, Design, Kinematics

Journal Articles

An efficient integral approach for kinematic reliability sensitivity analysis of industrial robots

Shuoshuo Shen, Dequan Zhang, Weipeng Liu, Jie Liu, Xu Han

Publisher: ASME

J. Mechanisms Robotics.

Paper No: JMR-23-1796

https://doi.org/10.1115/1.4066553

Published Online: September 13, 2024

... Email: xhan@hebut.edu.cn Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 14 12 2023 06 09 2024 06 09 2024 13 09 2024 Data-enabled Analysis of Mechanical Systems and Robots Kinematics...

View Article titled, An efficient integral approach for kinematic reliability sensitivity analysis of industrial robots

Topics: Kinematics, Reliability, Robots, Sensitivity analysis

Journal Articles

Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System

Justin L Sitler, Long Wang

Publisher: ASME

J. Mechanisms Robotics.

Paper No: JMR-24-1210

https://doi.org/10.1115/1.4066554

Published Online: September 13, 2024

...: jsitler1@stevens.edu Email: lwang4@stevens.edu Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 23 04 2024 10 09 2024 10 09 2024 13 09 2024 Kinematics, Dynamics, and Control of Mechanical...

View Article titled, Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System

Topics: Design, Kinematics, Manipulators, Robots, Vehicles

Journal Articles

Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper

Yoshinobu Onozawa, Keisuke Yagi, Yoshikazu Mori

Publisher: ASME

J. Mechanisms Robotics. February 2025, 17(2): 021011.

Paper No: JMR-24-1201

https://doi.org/10.1115/1.4066133

Published Online: September 3, 2024

... and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 18 04 2024 23 07 2024 23 07 2024 03 09 2024 Graphical Abstract Figure bio-inspired mechanism design mechanism synthesis and analysis mechanisms and robots Insect...

View Article titled, Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper

Topics: Design, Springs, Synchronization, Torque, Rotation

Journal Articles

The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains

Vaughn Chambers, Bradley Hobbs, William Gaither, Zachary Thé, Anthony Zhou, Chrysostomos Karakasis, Panagiotis Artemiadis

Publisher: ASME

J. Mechanisms Robotics. March 2025, 17(3): 031005.

Paper No: JMR-23-1825

https://doi.org/10.1115/1.4066173

Published Online: September 3, 2024

.... Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 24 12 2023 30 07 2024 31 07 2024 03 09 2024 Graphical Abstract Figure variable stiffness gait biped locomotion rehabilitation mechanisms...

View Article titled, The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains

Topics: Stiffness, Deflection, Belts, Design

Journal Articles

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Jason Gurney

Publisher: ASME

J. Mechanisms Robotics. March 2025, 17(3): 031006.

Paper No: JMR-24-1040

https://doi.org/10.1115/1.4066185

Published Online: September 3, 2024

... performance. Studying how to control the GRF direction to make robotic locomotion similar to that of animals is an active area of research for legged systems. bio-inspired compliant mechanisms and robots kinematics dynamics and control of mechanical systems mechanisms and robots multi-body...

View Article titled, Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Topics: Control equipment, Knee, Legged locomotion, Simulation, Stiffness, Torque, Springs, Robotics, Stability

Journal Articles

Sparse Convolution-Based 6D Pose Estimation for Robotic Bin-Picking With Point Clouds

Chungang Zhuang, Wanhao Niu, Hesheng Wang

Publisher: ASME

J. Mechanisms Robotics. March 2025, 17(3): 031007.

Paper No: JMR-24-1219

https://doi.org/10.1115/1.4066281

Published Online: September 3, 2024

... Corresponding author. Email: cgzhuang@sjtu.edu.cn Email: nwh1093412390@sjtu.edu.cn Email: edward_wang@sjtu.edu.cn Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 26 04 2024 09 08 2024 12 08 2024 03...

View Article titled, Sparse Convolution-Based 6D Pose Estimation for Robotic Bin-Picking With Point Clouds

Topics: Image segmentation, Robotics, Simulation, Robots, Grasping

Journal Articles

An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability

Prashanth Nagaraja, Sudheer Reddy Joharapuram, Bindusagar Malenahalli Ganesh, Basavaraj Herai Matt, Nikhil Umesh, Kiran Madrahalli Chidanandamurthy

Publisher: ASME

J. Mechanisms Robotics. February 2025, 17(2): 025001.

Paper No: JMR-24-1020

https://doi.org/10.1115/1.4065796

Published Online: August 8, 2024

... . 10.1080/01691864.2014.891949 [23] Liu , P. , Wang , J. , Wang , X. , and Zhao , P. , 2018 , “ Optimal Design of a Stair-Climbing Mobile Robot With Flip Mechanism ,” Adv. Robot. , 32 ( 6 ), pp. 325 – 336 . 10.1080/01691864.2018.1448299 [24] Bruzzone , L. , Nodehi...

View Article titled, An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability

Topics: Robots, Wheels, Mobile robots, Actuators

Journal Articles

A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots

Jianyu Yang, Xuanting Li, Zhongqi Sheng, Xiaofeng Ma, Hui Shi, Hualong Xie

Publisher: ASME

J. Mechanisms Robotics. February 2025, 17(2): 021009.

Paper No: JMR-23-1618

https://doi.org/10.1115/1.4066000

Published Online: August 8, 2024

... movement. articulated-driven mechanism continuum robot follow-the-leader track following head-following cable-driven mechanisms mechanisms and robots soft robots theoretical and computational kinematics Graphical Abstract Figure 10 10 2023 10 07 2024 11 07 2024...

View Article titled, A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots

Topics: Algorithms, Errors, Robots, Simulation, Kinematics, End effectors, Trajectories (Physics)

Journal Articles

Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots

A. Ghoul, S. Djeffal, H. Wang, K. Kara, M. L. Hadjili

Publisher: ASME

J. Mechanisms Robotics. February 2025, 17(2): 021002.

Paper No: JMR-23-1749

https://doi.org/10.1115/1.4065698

Published Online: July 19, 2024

...@yahoo.fr Email: mhadjili@he2b.be Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 22 11 2023 04 06 2024 05 06 2024 19 07 2024 Graphical Abstract Figure continuum robot kinematics...

View Article titled, Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots

Topics: Cables, Robots, Control equipment, Dynamic models, Kinematics

Journal Articles

Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing

Chengleng Han, Lin Xu, Mohamed A. A. Abdelkareem, Jia Mi

Publisher: ASME

J. Mechanisms Robotics. February 2025, 17(2): 021006.

Paper No: JMR-23-1606

https://doi.org/10.1115/1.4065891

Published Online: July 19, 2024

... mechanism design mechanisms and robots robot motion planning and control Graphical Abstract Figure 06 10 2023 30 06 2024 01 07 2024 19 07 2024 Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R...

View Article titled, Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing

Topics: Chain, Cylinders, Design, Engines, Kinematics, Motors, Robots, Sliding mode control, Hydraulic cylinders, Trajectories (Physics)

Journal Articles

Comparison Analysis of Bio-Inspired Tendon-Driven Manipulators Based on Their Tension-Feasible Workspace

Nicolas J. S. Testard, Christine Chevallereau, Philippe Wenger

Publisher: ASME

J. Mechanisms Robotics. January 2025, 17(1): 010907.

Paper No: JMR-23-1581

https://doi.org/10.1115/1.4065633

Published Online: June 17, 2024

.... Furthermore, experiments were conducted to validate the methodologies. 1 Corresponding author. Email: nicolas.testard@ls2n.fr Email: christine.chevallereau@ls2n.fr Email: philippe.wenger@ls2n.fr Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal...

View Article titled, Comparison Analysis of Bio-Inspired Tendon-Driven Manipulators Based on Their Tension-Feasible Workspace

Topics: Manipulators, Tendons, Tension

Journal Articles

Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots

Felix Trautwein, David Dietrich, Andreas Pott, Alexander Verl

Publisher: ASME

J. Mechanisms Robotics. January 2025, 17(1): 010908.

Paper No: JMR-23-1708

https://doi.org/10.1115/1.4065642

Published Online: June 17, 2024

... Corresponding author. Email: felix.trautwein@isw.uni-stuttgart.de Email: david.dietrich@isw.uni-stuttgart.de Email: andreas.pott@isw.uni-stuttgart.de Email: alexander.verl@isw.uni-stuttgart.de Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M...

View Article titled, Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots

Topics: Cables, Robots, Stability, Topology, Kinematics, Modeling, Algorithms

Journal Articles

Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics

Ryan J. Caverly, Sze Kwan Cheah, Keegan R. Bunker, Samir Patel, Niko Sexton, Vinh L. Nguyen

Publisher: ASME

J. Mechanisms Robotics. January 2025, 17(1): 010904.

Paper No: JMR-23-1714

https://doi.org/10.1115/1.4065236

Published Online: June 7, 2024

...: sexto164@umn.edu Email: nguy2876@umn.edu Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 12 11 2023 23 03 2024 27 03 2024 07 06 2024 Graphical Abstract Figure The work of Ryan J...

View Article titled, Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics

Topics: Algorithms, Cables, Calibration, Errors, Kinematics, Simulation, Robots, End effectors

Journal Articles

Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots

Jer Luen Chien, Clarissa Leong, Jingmin Liu, Shaohui Foong

Publisher: ASME

J. Mechanisms Robotics. December 2024, 16(12): 121011.

Paper No: JMR-23-1648

https://doi.org/10.1115/1.4065370

Published Online: May 21, 2024

... Cosserat rod cable driven cable-driven mechanisms mechanisms and robots Graphical Abstract Figure 23 10 2023 16 04 2024 16 04 2024 21 05 2024 Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R...

View Article titled, Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots

Topics: Friction, Robots, Tendons, Control equipment, Shapes

Journal Articles

Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics

Edward J. Haug

Publisher: ASME

J. Mechanisms Robotics. June 2024, 16(6): 061017.

Paper No: JMR-23-1773

https://doi.org/10.1115/1.4065234

Published Online: April 24, 2024

... and robots multibody dynamics and control non-serial robots Graphical Abstract Figure 01 12 2023 23 03 2024 27 03 2024 24 04 2024 Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . Email...

View Article titled, Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics

Topics: Kinematics, Manifolds, Manipulators, Manufacturing, Redundant manipulators, Redundancy (Engineering), Dynamics (Mechanics), Manipulator dynamics, Resolution (Optics)

Journal Articles

Series Clutched Actuation for Collision-Tolerant High-Speed Robots

Frederik Ostyn, Bram Vanderborght, Guillaume Crevecoeur

Publisher: ASME

J. Mechanisms Robotics. December 2024, 16(12): 121008.

Paper No: JMR-23-1250

https://doi.org/10.1115/1.4065235

Published Online: April 23, 2024

... Corresponding author. Email: frederik.ostyn@ugent.be Email: bram.vanderborght@vub.be Email: guillaume.crevecoeur@ugent.be Contributed by Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 28 04 2023 20 03 2024 22 03 2024...

View Article titled, Series Clutched Actuation for Collision-Tolerant High-Speed Robots

Topics: Collisions (Physics), Robots, Torque

Journal citation

NARROW

Manuscript

Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced

Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators

A Screw Theory Approach for Instantaneous Kinematic Analysis of Parallel–Serial Manipulators

Evolution Design of Multiple Metamorphic Mechanisms Inspired by the Concept of Assur Group

An efficient integral approach for kinematic reliability sensitivity analysis of industrial robots

Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System

Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper

The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Sparse Convolution-Based 6D Pose Estimation for Robotic Bin-Picking With Point Clouds

An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability

A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots

Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots

Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing

Comparison Analysis of Bio-Inspired Tendon-Driven Manipulators Based on Their Tension-Feasible Workspace

Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots

Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics

Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots

Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics

Series Clutched Actuation for Collision-Tolerant High-Speed Robots

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