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Journal Articles

Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints

Accepted Manuscript
Jiahui Luo, Longqing Ge, Xiaoming Xu, Xiaodong Liu, Ziwei Zhuang, Lulu Han, ZhiGang Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1150
https://doi.org/10.1115/1.4066745
Published Online: September 30, 2024
View Article titled, Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints
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Topics: Kinematics, Stability, Stiffness, Tensegrity, Cables, Computer programming, Modeling, Stress, Tension
Journal Articles

DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation

Alberto Parmiggiani, Emilio Ottonello, Seyyed Masoud Kargar, Mario Baggetta, Guangbo Hao, Giovanni Berselli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111011.
Paper No: JMR-23-1682
https://doi.org/10.1115/1.4065780
Published Online: July 22, 2024
View Article titled, DeltaFlex—An Additively Manufactured Delta Robot With Compliant Joints: Virtual Prototyping and Experimental Evaluation
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Topics: Additive manufacturing, Design, Robots, Stiffness, Errors, Stress, End effectors, Simulation
Journal Articles

Towing an Object With a Rover

Matteo Caruso, Nicholas Sesto Gorella, Paolo Gallina, Stefano Seriani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021001.
Paper No: JMR-23-1486
https://doi.org/10.1115/1.4065697
Published Online: July 19, 2024
View Article titled, Towing an Object With a Rover
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Topics: Dynamics (Mechanics), Friction, Kinematics, Path planning, Pressure, Sensitivity analysis, Simulation, Trajectories (Physics), Geometry, Wheels
Journal Articles

Design of High-Performance Triple-Axis Cross Pivots

Simone Serafino, Luca Bruzzone, Pietro Fanghella, Matteo Verotti
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021004.
Paper No: JMR-24-1145
https://doi.org/10.1115/1.4065749
Published Online: July 19, 2024
View Article titled, Design of High-Performance Triple-Axis Cross Pivots
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Topics: Design, Finite element analysis, Stiffness, Stress, Bending (Stress), Rotation
Journal Articles

Kinetostatic Modeling of an Asymmetrical Double-Stepped Beam for Displacement Amplification

Tri-Hieu Nguyen, Huy-Tuan Pham, Ngoc Dang Khoa Tran, Dung-An Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011003.
Paper No: JMR-24-1051
https://doi.org/10.1115/1.4065521
Published Online: June 18, 2024
View Article titled, Kinetostatic Modeling of an Asymmetrical Double-Stepped Beam for Displacement Amplification
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Topics: Displacement, Stress, Buckling, Symmetry (Physics), Modeling
Journal Articles

An Analytical Model for Nonlinear-Elastic Compliant Mechanisms With Tension–Compression Asymmetry

Brianne Hargrove, Mary Frecker, Angela Nastevska, Jovana Jovanova
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121006.
Paper No: JMR-23-1739
https://doi.org/10.1115/1.4065025
Published Online: April 9, 2024
View Article titled, An Analytical Model for Nonlinear-Elastic Compliant Mechanisms With Tension–Compression Asymmetry
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Topics: Cantilever beams, Compliant mechanisms, Compression, Deflection, Design, Finite element analysis, Geometry, Nickel titanium alloys, Stress, Tension
Includes: Supplementary data
Journal Articles

Dynamic Manipulation and Stiffness Modulation of Cooperative Continuum Robots: Theory and Experiment

Amir Jalali, Farrokh Janabi-Sharifi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121001.
Paper No: JMR-23-1757
https://doi.org/10.1115/1.4064815
Published Online: March 29, 2024
View Article titled, Dynamic Manipulation and Stiffness Modulation of Cooperative Continuum Robots: Theory and Experiment
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Topics: Robots, Stiffness, Tendons, Tension, Stress, Dynamic response
Journal Articles

Design of an Efficient Non-Backdrivable Mechanism With Wrap Spring for Hand Prosthesis

Côme Butin, Yannick Aoustin, David Gouaillier, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101015.
Paper No: JMR-23-1557
https://doi.org/10.1115/1.4064739
Published Online: March 29, 2024
View Article titled, Design of an Efficient Non-Backdrivable Mechanism With Wrap Spring for Hand Prosthesis
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Topics: Friction, Springs, Stress, Torque, Prostheses, Design, Manufacturing
Journal Articles

Impact of the Bars Behavior on the Design of Soft Tensegrities

Jérémy Sand, François Geiskopf, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104501.
Paper No: JMR-23-1373
https://doi.org/10.1115/1.4064572
Published Online: February 27, 2024
View Article titled, Impact of the Bars Behavior on the Design of Soft Tensegrities
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Topics: Stiffness, Tensegrity, Cables, Design, Stress, Silicones, Steel
Journal Articles

A Dimensionless Large Displacement Model for Flexure Hinges of Elliptical Geometry

Simir Moschini, Matteo Claudio Palpacelli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101002.
Paper No: JMR-23-1158
https://doi.org/10.1115/1.4064416
Published Online: February 5, 2024
View Article titled, A Dimensionless Large Displacement Model for Flexure Hinges of Elliptical Geometry
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Topics: Bending (Stress), Geometry, Hinges, Stiffness, Displacement, Stress, Errors, Compliant mechanisms, Simulation
Journal Articles

A Novel Elbow-Inspired Cable-Driven Tensegrity Joint: Bionic Design, Coupled Kinematics, and Load Performance

Xiongdun Xie, Dezhu Xiong, Zhenqi Li, James Zhiqing Wen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101003.
Paper No: JMR-23-1627
https://doi.org/10.1115/1.4064462
Published Online: February 5, 2024
View Article titled, A Novel Elbow-Inspired Cable-Driven Tensegrity Joint: Bionic Design, Coupled Kinematics, and Load Performance
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Topics: Bionics, Cables, Design, Engineering prototypes, Stress, Tensegrity, Tension, Kinematics
Journal Articles

A Dynamical Model for the Control of a Guyed Tensegrity Beam Under Large Displacements

Paulo R. G. Kurka, Victor A. S. M. Paiva, Luis H. Silva-Teixeira, Paola G. Ramos, Jaime H. Izuka
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091004.
Paper No: JMR-23-1476
https://doi.org/10.1115/1.4064259
Published Online: February 1, 2024
View Article titled, A Dynamical Model for the Control of a Guyed Tensegrity Beam Under Large Displacements
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Topics: Cables, Damping, Stress, Tensegrity, Tensegrity structures, Stiffness, Deformation
Journal Articles

Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints

Siyuan Ye, Pengyuan Zhao, Shiyao Li, Fatemeh Kavousi, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091005.
Paper No: JMR-23-1456
https://doi.org/10.1115/1.4064368
Published Online: February 1, 2024
View Article titled, Design and Modeling of a Non-Flat Foldable Tubular Kirigami With Compliant Joints
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Topics: Design, Displacement, Finite element analysis, Modeling, Stress, Manufacturing, Stiffness, Additive manufacturing
Journal Articles

Design of a Novel Large-Stroke Compliant Constant-Torque Mechanism Based on Chained Beam-Constraint Model

Thanh-Vu Phan, Van Men Truong, Huy-Tuan Pham, Van-Khien Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081006.
Paper No: JMR-23-1441
https://doi.org/10.1115/1.4063980
Published Online: December 11, 2023
View Article titled, Design of a Novel Large-Stroke Compliant Constant-Torque Mechanism Based on Chained Beam-Constraint Model
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Topics: Design, Finite element analysis, Optimization, Torque, Stress
Journal Articles

Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction

Tingting Su, Quan Yuan, Xu Liang, Yuchen Yan, Haojian Zhang, Xianjie Jian, Guangping He, Quanliang Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081007.
Paper No: JMR-23-1450
https://doi.org/10.1115/1.4063981
Published Online: December 11, 2023
View Article titled, Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction
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Topics: Bone fractures, Design, Fracture (Materials), Fracture (Process), Kinematics, Parallel mechanisms, Robots, Scanning probe microscopy, Torsion, Statics
Journal Articles

Cyclic Reconfigurability of Deployable Ring Structures With Angulated Beams

Linzi Fan, Ruoqi He, Yao Chen, Shun Hu, Pooya Sareh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071005.
Paper No: JMR-23-1223
https://doi.org/10.1115/1.4063408
Published Online: October 16, 2023
View Article titled, Cyclic Reconfigurability of Deployable Ring Structures With Angulated Beams
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Topics: Diaphragms (Mechanical devices), Diaphragms (Structural), Kinematic analysis, Mechanical admittance, Stress, Constraint equations, Geometry, Computer simulation, Kinematics
Journal Articles

Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks

Bing Chen, Xiang Ni, Bin Zi, Qingsong Xu, Jun Qian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071007.
Paper No: JMR-23-1199
https://doi.org/10.1115/1.4063455
Published Online: October 16, 2023
View Article titled, Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks
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Topics: Exoskeleton devices, Muscle, Design, Stress, Torque, Cables
Journal Articles

Kinetostatics of Deployable Concrete Formworks

Jing-Shan Zhao, Xiao-Cheng Sun, Song-Tao Wei, Wen-Xiu Lu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071003.
Paper No: JMR-23-1279
https://doi.org/10.1115/1.4063371
Published Online: October 16, 2023
View Article titled, Kinetostatics of Deployable Concrete Formworks
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Topics: Concretes, Kinematics, Modeling, Rods, Screws, Statics, Stress, Kinematic analysis
Journal Articles

Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot

Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071002.
Paper No: JMR-23-1220
https://doi.org/10.1115/1.4063369
Published Online: October 13, 2023
View Article titled, Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot
Open the PDF for Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot in another window
Topics: Cables, Robots, Shapes, Surgery, Artificial neural networks, Calibration, Modeling, Stress, Errors, Kinematics
Journal Articles

Analysis and Validation of a Flexible Limb/Cable Hybrid-Driven Parallel Continuum Manipulator

Yezheng Kang, Zhenkun Liang, Tianyi Yan, Xuyang Duan, Hao Wang, Joachim Seidelmann, Genliang Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061010.
Paper No: JMR-23-1122
https://doi.org/10.1115/1.4063289
Published Online: October 4, 2023
View Article titled, Analysis and Validation of a Flexible Limb/Cable Hybrid-Driven Parallel Continuum Manipulator
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Topics: Cables, End effectors, Kinematics, Manipulators, Stress, Modeling, Engineering prototypes, Robots