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Journal Articles

State-Space Basins for Monopedal Jumping With Stable Landing

Sameer A. Upadhye, Justin K. Yim, William Z. Peng, Hyunjong Song, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044513.
Paper No: JMR-24-1457
https://doi.org/10.1115/1.4066981
Published Online: November 22, 2024
View Article titled, State-Space Basins for Monopedal Jumping With Stable Landing
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Topics: Flight, Robots, Stability, Optimization, Dynamics (Mechanics)
Journal Articles

Optimal Curve Fitting for Serial Chain in Six-Crease Origami Unit

Wei-Min Chen, Biing-Chwen Chang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044503.
Paper No: JMR-24-1447
https://doi.org/10.1115/1.4066849
Published Online: November 6, 2024
View Article titled, Optimal Curve Fitting for Serial Chain in Six-Crease Origami Unit
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Topics: Curve fitting, Kinematics, Optimization
Journal Articles

Analysis of Force Distribution and Motion Characteristic of Hybrid-Driven Tensegrity Parallel Mechanism

Wei Zhu, Xiaoyu Zhou, Yongjing Zhu, Zhilong Ma
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051007.
Paper No: JMR-24-1196
https://doi.org/10.1115/1.4066980
Published Online: November 6, 2024
View Article titled, Analysis of Force Distribution and Motion Characteristic of Hybrid-Driven Tensegrity Parallel Mechanism
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Topics: Cables, Equilibrium (Physics), Optimization, Parallel mechanisms, Tensegrity, Chain, Tension, Rods
Journal Articles

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

Justin Sitler, Long Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051001.
Paper No: JMR-24-1210
https://doi.org/10.1115/1.4066554
Published Online: November 1, 2024
View Article titled, Design, Kinematics, and Deployment of a Continuum Underwater Vehicle-Manipulator System
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Topics: Kinematics, Manipulators, Vehicles, Robots, Redundancy (Engineering), Trajectories (Physics), Design, End effectors, Optimization, Resolution (Optics)
Journal Articles

Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot

Alberto Rigo, Muqun Hu, Junchao Ma, Satyandra K. Gupta, Quan Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051006.
Paper No: JMR-24-1144
https://doi.org/10.1115/1.4066852
Published Online: November 1, 2024
View Article titled, Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot
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Topics: Control equipment, Design, Optimization, Quadruped robots, Robotics, Robots, Degrees of freedom, Manipulators, Doors, Weight (Mass)
Journal Articles

Push Recovery of a Biped in Different Stance Scenarios

Alinjar Dan, S. K. Saha, K. Rama Krishna, Amit Sawant, Gurman Singh Bhullar, Tarannum Perween
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031015.
Paper No: JMR-23-1394
https://doi.org/10.1115/1.4066443
Published Online: October 25, 2024
View Article titled, Push Recovery of a Biped in Different Stance Scenarios
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Topics: Angular momentum, Control equipment, Hardware, Linear momentum, Momentum, Optimization, Robots, Stability, Impulse (Physics), Torque control
Journal Articles

Modeling, Simulation, and Kinematic Validation of Transfemoral Prosthetic Mechanism With Ankle Varus–Valgus Characteristic

Majun Song, Zhongyi Li, Hao Zheng, Weihai Chen, Sheng Guo, Lianzheng Niu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031016.
Paper No: JMR-23-1788
https://doi.org/10.1115/1.4066552
Published Online: October 25, 2024
View Article titled, Modeling, Simulation, and Kinematic Validation of Transfemoral Prosthetic Mechanism With Ankle Varus–Valgus Characteristic
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Topics: Artificial limbs, Kinematics, Modeling, Optimization, Prostheses, Simulation, Knee
Journal Articles

The Synthesis of Spherical Four-bars for Biomimetic Motion through Complete Solutions for Approximate Rigid Body Guidance

Accepted Manuscript
Sam O'Connor, Mark Plecnik
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics.
Paper No: JMR-24-1451
https://doi.org/10.1115/1.4066850
Published Online: October 14, 2024
View Article titled, The Synthesis of Spherical Four-bars for Biomimetic Motion through Complete Solutions for Approximate Rigid Body Guidance
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Topics: Biomimetics, Optimization, Engineering prototypes, Kinematics, Seas, Wings
Journal Articles

Architecture Singularity Distance Computations for Linear Pentapods

Aditya Kapilavai, Georg Nawratil
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021008.
Paper No: JMR-24-1034
https://doi.org/10.1115/1.4065789
Published Online: July 23, 2024
View Article titled, Architecture Singularity Distance Computations for Linear Pentapods
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Topics: Design, Optimization, Computation, Manipulators, Robots, Algorithms
Journal Articles

Development of a 6-Degrees-of-Freedom Hybrid Interface Intended for Teleoperated Robotic Cervical Spine Surgery

Alizée Koszulinski, Juan Sandoval, Marc Arsicault, Med Amine Laribi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021007.
Paper No: JMR-24-1137
https://doi.org/10.1115/1.4065917
Published Online: July 19, 2024
View Article titled, Development of a 6-Degrees-of-Freedom Hybrid Interface Intended for Teleoperated Robotic Cervical Spine Surgery
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Topics: Cervical spine, Design, Drilling, Kinematics, Parallel mechanisms, Surgery, Robotics, Optimization, Force feedback, Motors
Journal Articles

Complete Solutions for the Approximate Synthesis of Spherical Four-Bar Function Generators

Sam O’Connor, Mark Plecnik, Aravind Baskar, James Joo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111010.
Paper No: JMR-23-1690
https://doi.org/10.1115/1.4064835
Published Online: May 23, 2024
View Article titled, Complete Solutions for the Approximate Synthesis of Spherical Four-Bar Function Generators
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Topics: Design, Generators, Optimization, Polynomials, Wings, Kinematics, Dimensions
Journal Articles

New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer

Miguel De La Melena, Shawn Duan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091012.
Paper No: JMR-23-1689
https://doi.org/10.1115/1.4065082
Published Online: May 10, 2024
View Article titled, New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer
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Topics: Design, End effectors, Engineering prototypes, Equations of motion, Finite element analysis, Kinematics, Manipulators, Optimization, Testing, Degrees of freedom
Journal Articles

Analytic Center-Based Tension Distribution for Cable-Driven Platforms

Vincenzo Di Paola, Alexandre Goldsztejn, Matteo Zoppi, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081018.
Paper No: JMR-23-1452
https://doi.org/10.1115/1.4065244
Published Online: April 24, 2024
View Article titled, Analytic Center-Based Tension Distribution for Cable-Driven Platforms
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Topics: Cables, Tension, Optimization, End effectors, Simulation, Robots
Journal Articles

Design and Optimization of a Wearable Underactuated Mechanism for Spinal Posture Measurement

Ming-Chang Hsu, Hsuan-Yu Chen, Christina Soong, T.-J. Yeh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111005.
Paper No: JMR-23-1586
https://doi.org/10.1115/1.4065075
Published Online: March 29, 2024
View Article titled, Design and Optimization of a Wearable Underactuated Mechanism for Spinal Posture Measurement
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Topics: Design, Optimization, Engines, Motors, Wearable devices
Journal Articles

Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms

Yuting Du, Qiang Ruan, Yan-an Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081017.
Paper No: JMR-23-1764
https://doi.org/10.1115/1.4064741
Published Online: March 20, 2024
View Article titled, Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms
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Topics: Design, Engineering prototypes, Rotation, Wheels, Linkages, Optimization, Kinematics
Journal Articles

Singularity Analysis of Actuation Coordination and New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators

Xiaofei Liu, Bo Wan, Yu Liu, Yu Wang, Yongsheng Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101007.
Paper No: JMR-23-1614
https://doi.org/10.1115/1.4064574
Published Online: February 27, 2024
View Article titled, Singularity Analysis of Actuation Coordination and New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators
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Topics: Manipulators, Optimization, Design, Dimensions
Journal Articles

Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach

André Gallant, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091008.
Paper No: JMR-23-1455
https://doi.org/10.1115/1.4064570
Published Online: February 27, 2024
View Article titled, Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach
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Topics: Design, Kinematics, Manipulators, Optimization, Trajectories (Physics)
Journal Articles

Drive Layout Configuration Strategy and Scale Optimization Design of Multi-Drive Mode Parallel Mechanism

Ming Han, Bin Xiong, Jinyue Liu, Dong Yang, Tiejun Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091002.
Paper No: JMR-23-1492
https://doi.org/10.1115/1.4064237
Published Online: February 1, 2024
View Article titled, Drive Layout Configuration Strategy and Scale Optimization Design of Multi-Drive Mode Parallel Mechanism
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Topics: Design, Optimization, Parallel mechanisms, Kinematics
Journal Articles

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

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 Article titled, 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

A Continuously Variable Transmission-Based Variable Stiffness Actuator for pHRI: Design Optimization and Performance Verification

Emir Mobedi, Mehmet İsmet Can Dede
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081013.
Paper No: JMR-23-1152
https://doi.org/10.1115/1.4064280
Published Online: January 11, 2024
View Article titled, A Continuously Variable Transmission-Based Variable Stiffness Actuator for pHRI: Design Optimization and Performance Verification
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Topics: Design, Optimization, Torque, Stiffness, Motors, Engineering prototypes