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Journal Articles

Magnetically-Actuated Endoluminal Soft Robot With Electroactive Polymer Actuation for Enhanced Gait Performance

Jake A. Steiner, William S. Nagel, Kam K. Leang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104503.
Paper No: JMR-24-1050
https://doi.org/10.1115/1.4066130
Published Online: September 2, 2024
View Article titled, Magnetically-Actuated Endoluminal Soft Robot With Electroactive Polymer Actuation for Enhanced Gait Performance
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Topics: Conducting polymers, Robots, Simulation, Deformation, Soft robots, Magnets, Polymers
Journal Articles

Modeling Abduction Mechanism of Soft Actuator With Elastica for Robotic Hands

Sheng-Guan Lin, Jen-Yuan (James) Chang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021003.
Paper No: JMR-24-1055
https://doi.org/10.1115/1.4065750
Published Online: July 19, 2024
View Article titled, Modeling Abduction Mechanism of Soft Actuator With Elastica for Robotic Hands
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Topics: Actuators, Membranes, Springs, Deformation, Robotics, Stiffness, Modeling
Journal Articles

Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases

Feng Wang, Fan Zhang, Guohua Cui
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011001.
Paper No: JMR-23-1751
https://doi.org/10.1115/1.4065461
Published Online: June 18, 2024
View Article titled, Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases
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Topics: Deformation, Rotation, Stiffness, Design, Linkages, Kinematics, Plates (structures)
Journal Articles

An Origami-Enabled Soft Linear Actuator and Its Application on a Crawling Robot

Shuiqing Yan, Keyao Song, Xiashuang Wang, Jiake Li, Zhe Ma, Xiang Zhou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011002.
Paper No: JMR-24-1047
https://doi.org/10.1115/1.4065462
Published Online: June 18, 2024
View Article titled, An Origami-Enabled Soft Linear Actuator and Its Application on a Crawling Robot
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Topics: Actuators, Displacement, Robots, Design, Servomotors, Deformation
Includes: Supplementary data
Journal Articles

Folding Auxetic Polygonal Kirigami Tubes

Martin G. Walker
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121012.
Paper No: JMR-23-1727
https://doi.org/10.1115/1.4065372
Published Online: May 21, 2024
View Article titled, Folding Auxetic Polygonal Kirigami Tubes
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Topics: Deformation, Kinematics, Finite element analysis, Soft robots
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

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 of a Novel Flexible Spherical Hinge and Its Application in Continuum Robot

Guoxin Li, Jingjun Yu, Jie Pan, Xu Pei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061012.
Paper No: JMR-23-1276
https://doi.org/10.1115/1.4063370
Published Online: October 4, 2023
View Article titled, Design of a Novel Flexible Spherical Hinge and Its Application in Continuum Robot
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Topics: Design, Robots, Stiffness, Chain, Deformation, End effectors, Isotropy
Journal Articles

Conceptual Design of a Novel Particle-Based Soft Grasping Gripper

Qianyi Chen, Dingena Schott, Jovana Jovanova
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051004.
Paper No: JMR-22-1578
https://doi.org/10.1115/1.4062647
Published Online: June 26, 2023
View Article titled, Conceptual Design of a Novel Particle-Based Soft Grasping Gripper
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Topics: Actuators, Grippers, Membranes, Particulate matter, Shrinkage (Materials), Design, Grasping, Deflection, Conceptual design, Deformation
Journal Articles

Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices

Shuangshuang Zhang, Linsong Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041001.
Paper No: JMR-22-1513
https://doi.org/10.1115/1.4062134
Published Online: April 12, 2023
View Article titled, Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices
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Topics: Deformation, Manipulators, Modeling, Stiffness, Stress, Parallel mechanisms, Kinematics
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

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

A Curved Compliant Differential Mechanism With Neutral Stability

Robin Mak, Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011003.
Paper No: JMR-22-1430
https://doi.org/10.1115/1.4056867
Published Online: March 3, 2023
View Article titled, A Curved Compliant Differential Mechanism With Neutral Stability
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Topics: Potential energy, Springs, Stability, Stiffness, Symmetry (Physics), Deformation, Simulation
Journal Articles

A Modeling and Calibration Method of Heavy-Duty Automated Fiber Placement Robot Considering Compliance and Joint-Dependent Errors

Xiaokang Xu, Liang Cheng, Yingjie Guo, Jiangxiong Li, Yinglin Ke
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061011.
Paper No: JMR-22-1414
https://doi.org/10.1115/1.4056405
Published Online: January 18, 2023
View Article titled, A Modeling and Calibration Method of Heavy-Duty Automated Fiber Placement Robot Considering Compliance and Joint-Dependent Errors
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Topics: Errors, Robots, Deformation, Kinematics
Journal Articles

Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054502.
Paper No: JMR-22-1110
https://doi.org/10.1115/1.4055999
Published Online: November 25, 2022
View Article titled, Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
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Topics: Deformation, Dynamics (Mechanics), Inertia (Mechanics), Pendulums, Stiffness, Potential energy, Rotation, Springs, Damping, Dampers
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

On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm

Jean-Michel Boisclair, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051001.
Paper No: JMR-22-1043
https://doi.org/10.1115/1.4055605
Published Online: November 24, 2022
View Article titled, On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm
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Topics: Artificial limbs, Deformation, Design, Grasping, Rolling contact, Optimization, Cables, Pinch effect, Friction, Prostheses
Journal Articles

A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress

Jinlu Ni, Jiangping Mei, Yabin Ding, Dongxing Yu, Yunrui Duan, Yuxin Le
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041012.
Paper No: JMR-22-1126
https://doi.org/10.1115/1.4055571
Published Online: November 14, 2022
View Article titled, A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress
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Topics: Dynamics (Mechanics), Robots, Stress, Trajectories (Physics), Kinematics, Deformation, B-splines
Journal Articles

Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain

Gaurav Singh, Ahsan Nawroj, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021013.
Paper No: JMR-21-1511
https://doi.org/10.1115/1.4054613
Published Online: June 23, 2022
View Article titled, Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain
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Topics: Actuators, Deformation, Finite element analysis, Robots, Topology, Design, Stiffness, Shapes
Journal Articles

Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations

Koen Dwarshuis, Ronald Aarts, Marcel Ellenbroek, Dannis Brouwer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021011.
Paper No: JMR-21-1106
https://doi.org/10.1115/1.4054730
Published Online: June 23, 2022
View Article titled, Efficient Computation of Large Deformation of Spatial Flexure-Based Mechanisms in Design Optimizations
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Topics: Bending (Stress), Computation, Deformation, Design, Stiffness, Dimensions, Errors, Stress, Approximation