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Journal Articles

Design and Analysis of a Cable-Driven Lower Limb Rehabilitation Robot With Variable Stiffness Joints

Xiangxu Qu, Cui Liu, Lan Dong, Yuting Zhang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2025, 147(9): 093305.
Paper No: MD-24-1701
https://doi.org/10.1115/1.4068105
Published Online: March 18, 2025
View Article titled, Design and Analysis of a Cable-Driven Lower Limb Rehabilitation Robot With Variable Stiffness Joints
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Topics: Cables, Robots, Stiffness, Tension, Design
Journal Articles

In Situ Variable Stiffness Strategy for a Planar Tensegrity Manipulator Using Quadratic Programming

Yanghui Chen, Jiahui Luo, Jiafu Liu, Xiaoming Xu, Jianping Jiang, Weimeng Chu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2025, 147(9): 093302.
Paper No: MD-24-1670
https://doi.org/10.1115/1.4067922
Published Online: March 13, 2025
View Article titled, In Situ Variable Stiffness Strategy for a Planar Tensegrity Manipulator Using Quadratic Programming
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Topics: Stiffness, Manipulators, Cables, Tensegrity
Journal Articles

Design of a 6-DOF Heavy-Duty and High-Precision 3–3 Orthogonal Parallel Robot With Flexible Hinges

Chenkun Qi, Jianfeng Lin, Yan Hu, Songlin Zhou, Feng Gao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2025, 147(9): 093304.
Paper No: MD-24-1860
https://doi.org/10.1115/1.4068018
Published Online: March 13, 2025
View Article titled, Design of a 6-DOF Heavy-Duty and High-Precision 3–3 Orthogonal Parallel Robot With Flexible Hinges
Open the PDF for Design of a 6-DOF Heavy-Duty and High-Precision 3–3 Orthogonal Parallel Robot With Flexible Hinges in another window
Topics: Design, Displacement, Isotropy, Modeling, Robots, Rotation, Stiffness, Torque, Hinges, Chain
Journal Articles

Nonlinear design of a general single-translation constraint and the resulting general spherical joint

Accepted Manuscript
Jiaxiang Zhu, Shiyao Li, Guangbo Hao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des.
Paper No: MD-24-1592
https://doi.org/10.1115/1.4068101
Published Online: March 5, 2025
View Article titled, Nonlinear design of a general single-translation constraint and the resulting general spherical joint
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Topics: Compliant mechanisms, Design, Wire, Engineering prototypes, Engineering systems and industry applications, Finite element analysis, Geometry, Hardware, Manufacturing, Parallel mechanisms
Journal Articles

Compliant Toggle-Linkage Mechanisms: A New Type of Displacement–Force Amplification Principle

Shilei Wu, Mingxiang Ling
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083304.
Paper No: MD-24-1668
https://doi.org/10.1115/1.4067748
Published Online: February 26, 2025
View Article titled, Compliant Toggle-Linkage Mechanisms: A New Type of Displacement–Force Amplification Principle
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Topics: Bending (Stress), Design, Displacement, Levers, Linkages, Stiffness, Modeling, Gates (Closures), Compliant mechanisms
Journal Articles

A Variable Stiffness Soft Robotic Hand Featuring Ball-Jointed Skeleton Coupled With Particles

Xiulu Liu, Lekang Lin, Zirui Song, Jiale Li, Liqiang Xu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083305.
Paper No: MD-24-1702
https://doi.org/10.1115/1.4067868
Published Online: February 26, 2025
View Article titled, A Variable Stiffness Soft Robotic Hand Featuring Ball-Jointed Skeleton Coupled With Particles
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Topics: Particulate matter, Stiffness, End effectors, Grasping, Design
Journal Articles

Optimal Synthesis of Zero-Stiffness Compliant Mechanisms Based on Potential Energy Principle

Zewei Li, Mohui Jin, Weisheng Wang, Mingyu Qu, Xing Xu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083303.
Paper No: MD-24-1566
https://doi.org/10.1115/1.4067714
Published Online: February 25, 2025
View Article titled, Optimal Synthesis of Zero-Stiffness Compliant Mechanisms Based on Potential Energy Principle
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Topics: Compliant mechanisms, Displacement, Potential energy, Stiffness, Optimization, Modeling, Finite element analysis, Stress, Design
Journal Articles

A Multi-Layer Parallelogram Flexure Architecture for Higher Out-of-Plane Load Bearing Stiffness

Moeen Radgolchin, Siddharth Rath, Shorya Awtar
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2025, 147(7): 073302.
Paper No: MD-24-1426
https://doi.org/10.1115/1.4067452
Published Online: January 16, 2025
View Article titled, A Multi-Layer Parallelogram Flexure Architecture for Higher Out-of-Plane Load Bearing Stiffness
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Topics: Stiffness, Bending (Stress), Design
Journal Articles

Design and Mechanical Validation of Commercially Viable, Personalized Passive Prosthetic Feet

Charlotte Folinus, Amos G. Winter, V
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. March 2025, 147(3): 035001.
Paper No: MD-23-1144
https://doi.org/10.1115/1.4064073
Published Online: October 18, 2024
View Article titled, Design and Mechanical Validation of Commercially Viable, Personalized Passive Prosthetic Feet
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Topics: Artificial limbs, Design, Manufacturing, Keel, Stiffness
Includes: Supplementary data
Journal Articles

Design, Simulation, and Fabrication of Composite Lattice Orthoses With Enhanced Structural Performance

Yaru Mo, Shane Johnson
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. March 2025, 147(3): 035002.
Paper No: MD-24-1282
https://doi.org/10.1115/1.4066578
Published Online: October 18, 2024
View Article titled, Design, Simulation, and Fabrication of Composite Lattice Orthoses With Enhanced Structural Performance
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Topics: Bracing (Construction), Composite materials, Design, Finite element model, Manufacturing, Orthotics, Simulation, Winding (process), Stiffness, Weight (Mass)
Journal Articles

Design and Optimization of a Cable-Driven Parallel Polishing Robot With Kinematic Error Modeling

Bin Zhou, Shuainan Wu, Bin Zi, Weidong Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2025, 147(1): 013304.
Paper No: MD-24-1117
https://doi.org/10.1115/1.4065915
Published Online: August 21, 2024
View Article titled, Design and Optimization of a Cable-Driven Parallel Polishing Robot With Kinematic Error Modeling
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Topics: Cables, Errors, Kinematics, Robots, Modeling, Pareto optimization, Stiffness, Polishing, Design, Optimization
Journal Articles

Optimal Design of Assembling Robot Considering Different Limb Topologies and Layouts

Binbin Lian, Jinhua Guo, Zhiyuan He, Yimin Song
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2025, 147(1): 013305.
Paper No: MD-24-1196
https://doi.org/10.1115/1.4065999
Published Online: August 21, 2024
View Article titled, Optimal Design of Assembling Robot Considering Different Limb Topologies and Layouts
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Topics: Design, Kinematics, Optimization, Robots, Stiffness, Topology, Pareto optimization, Shapes, Dimensions, Symmetry (Physics)
Journal Articles

Development and Validation of Robotic Ankle Exoskeleton With Parallel Nonlinear Elastic Actuator

Bing Chen, Chenpu Shi, Bin Zi, Ling Qin, Qingsong Xu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2024, 146(11): 113304.
Paper No: MD-23-1760
https://doi.org/10.1115/1.4065561
Published Online: June 3, 2024
View Article titled, Development and Validation of Robotic Ankle Exoskeleton With Parallel Nonlinear Elastic Actuator
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Topics: Actuators, Design, Exoskeleton devices, Robotics, Springs, Torque, Weight (Mass), Engines, Motors, Control equipment
Journal Articles

Topology Design of Compliant Mechanism Design With Multiple Component Modeling Connected by Various Joints

Jun Hwan Kim, Gil Ho Yoon
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2024, 146(11): 111702.
Paper No: MD-23-1854
https://doi.org/10.1115/1.4065459
Published Online: May 21, 2024
View Article titled, Topology Design of Compliant Mechanism Design With Multiple Component Modeling Connected by Various Joints
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Topics: Compliant mechanisms, Design, Displacement, Hinges, Optimization, Stiffness, Topology optimization, Shapes
Journal Articles

Conceptual Configuration Analysis of Tetrahedral-Octahedral Heterogeneous Unit and Topological Design of Shape Morphing Mechanism

Weiming Guo, Hong Xiao, Hongwei Guo, Jianguo Tao, Zongquan Deng, Chuanyang Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2024, 146(10): 103302.
Paper No: MD-23-1470
https://doi.org/10.1115/1.4065231
Published Online: April 22, 2024
View Article titled, Conceptual Configuration Analysis of Tetrahedral-Octahedral Heterogeneous Unit and Topological Design of Shape Morphing Mechanism
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Topics: Deformation, Design, Stiffness, Topology, Trusses (Building), Shapes, Actuators, Kinematic chains, Kinematics
Journal Articles

KULEX-Wrist: Design and Analysis of Linkage-Driven Exoskeleton for Wrist Assistance

Man Bok Hong, Dukchan Yoon, Jaehyun Park, Keehoon Kim
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2024, 146(8): 083303.
Paper No: MD-23-1545
https://doi.org/10.1115/1.4064491
Published Online: March 5, 2024
View Article titled, KULEX-Wrist: Design and Analysis of Linkage-Driven Exoskeleton for Wrist Assistance
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Topics: Chain, Design, Engineering prototypes, Exoskeleton devices, Kinematics, Linkages, Rotation, Stiffness, Actuators, Screws
Journal Articles

Design and Analysis of Leaf Beam Single-Translation Constraint Compliant Modules and the Resulting Spherical Joints

Guangbo Hao, Xiuyun He, Jiaxiang Zhu, Haiyang Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2024, 146(8): 083301.
Paper No: MD-23-1745
https://doi.org/10.1115/1.4064415
Published Online: February 1, 2024
View Article titled, Design and Analysis of Leaf Beam Single-Translation Constraint Compliant Modules and the Resulting Spherical Joints
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Topics: Design, Rotation, Shapes, Wire, Stiffness
Journal Articles

Nonlinear Evaluation of a Large-Stroke Coiled L-Shape Compliant Guiding Mechanism With Constant Stiffness

Mingxiang Ling, Linfeng Zhao, Shilei Wu, Liguo Chen, Lining Sun
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2024, 146(6): 063301.
Paper No: MD-23-1288
https://doi.org/10.1115/1.4064074
Published Online: December 12, 2023
View Article titled, Nonlinear Evaluation of a Large-Stroke Coiled L-Shape Compliant Guiding Mechanism With Constant Stiffness
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Topics: Bending (Stress), Shapes, Stiffness, Errors, Compliant mechanisms, Resonance, Deformation
Journal Articles

Modeling Stiffness and Stress in Serpentine Flexures for Use in a Compliant Bone Plate

Connor Huxman, Jared Butler
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2024, 146(4): 043303.
Paper No: MD-23-1555
https://doi.org/10.1115/1.4063967
Published Online: December 6, 2023
View Article titled, Modeling Stiffness and Stress in Serpentine Flexures for Use in a Compliant Bone Plate
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Topics: Bending (Stress), Deflection, Stress, Stiffness, Bone, Design
Journal Articles

Three-Dimensional Material Mask Overlay Topology Optimization Approach With Truncated Octahedron Elements

Nikhil Singh, Prabhat Kumar, Anupam Saxena
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2024, 146(1): 011701.
Paper No: MD-23-1285
https://doi.org/10.1115/1.4063361
Published Online: October 6, 2023
View Article titled, Three-Dimensional Material Mask Overlay Topology Optimization Approach With Truncated Octahedron Elements
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Topics: Density, Design, Optimization, Overlays (Materials engineering), Stiffness, Topology optimization, Cantilever beams, Displacement, Compliant mechanisms, Shapes