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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
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
View Article titled, Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
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
View Article titled, Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing
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Topics: Chain, Cylinders, Design, Engines, Kinematics, Motors, Robots, Sliding mode control, Hydraulic cylinders, Trajectories (Physics)
Journal Articles

Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference

Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011006.
Paper No: JMR-24-1049
https://doi.org/10.1115/1.4065520
Published Online: June 24, 2024
View Article titled, Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
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Topics: Dynamics (Mechanics), Knee, Torque, Kinematics, Exoskeleton devices, Dynamic models, Manipulators, Modeling
Journal Articles

Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators

Md Modassir Firdaus, Omkar Dilip Paranjape, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101013.
Paper No: JMR-23-1401
https://doi.org/10.1115/1.4064669
Published Online: March 5, 2024
View Article titled, Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators
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Topics: Displacement, Manipulators, Shapes, Tendons, Tension, Steady state, Dynamic models, Damping
Journal Articles

Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism

Yangyang Huang, Jinzhu Zhang, Xiaoyan Xiong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071012.
Paper No: JMR-23-1351
https://doi.org/10.1115/1.4063670
Published Online: November 14, 2023
View Article titled, Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism
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Topics: Dynamic modeling, Dynamic models, Dynamics (Mechanics), Inertia (Mechanics), Manipulators, Performance evaluation, Pulse width modulation, Trajectories (Physics), Kinematics, Engineering prototypes
Journal Articles

Locust-Inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability

Xiaojuan Mo, Wenjie Ge, Yifei Ren, Donglai Zhao, Dunwen Wei, Donato Romano
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061013.
Paper No: JMR-22-1560
https://doi.org/10.1115/1.4063406
Published Online: October 17, 2023
View Article titled, Locust-Inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability
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Topics: Design, Kinematics, Modeling, Optimization, Robots, Springs, Stability, Stiffness, Dynamic modeling, Dynamic stability
Includes: Supplementary data
Journal Articles

Motion Modeling of a 5-Axis Delta Robot with Telescopic Shafts

Baran Alikoç, Vojtěch Šustr, Filip Zítek, Pavel Burget, Alexander Lomakin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041013.
Paper No: JMR-22-1537
https://doi.org/10.1115/1.4062672
Published Online: August 8, 2023
View Article titled, Motion Modeling of a 5-Axis Delta Robot with Telescopic Shafts
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Topics: Dynamic models, Kinematics, Modeling, Robots
Journal Articles

Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

Weixing Chen, Yu Wen, Xiaochuan Tong, Chaoxiong Lin, Jiang Li, Shuyou Wang, Wei Xie, Lifeng Mao, Xianchao Zhao, Weidong Zhang, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041015.
Paper No: JMR-23-1023
https://doi.org/10.1115/1.4062177
Published Online: May 2, 2023
View Article titled, Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
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Topics: Actuators, Control equipment, Inertia (Mechanics), Ships, Waves, Dynamics (Mechanics), Design, Stress, Errors, Dynamic models
Journal Articles

Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

Jun Wu, Jiahao Qiu, Hao Ye
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021005.
Paper No: JMR-21-1729
https://doi.org/10.1115/1.4054618
Published Online: June 21, 2022
View Article titled, Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range
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Topics: Actuators, Manipulators, Optimization, Torque, Redundant manipulators, Dynamic models, Trajectories (Physics)
Journal Articles

Dynamic Modeling and Simulation of a Hybrid Robot

Nanyan Shen, Hengming Yuan, Jing Li, Zirui Wang, Ninghe Lu, Yushun Lu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011012.
Paper No: JMR-21-1588
https://doi.org/10.1115/1.4054322
Published Online: May 12, 2022
View Article titled, Dynamic Modeling and Simulation of a Hybrid Robot
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Topics: Kinematics, Parallel mechanisms, Robots, Simulation, Kinematic analysis, Equilibrium (Physics), Dynamic models, Inertia (Mechanics), Rotation, Design
Journal Articles

Design, Dynamic Analysis, and Experimental Evaluation of a Hybrid Parallel–Serial Polishing Machine With Decoupled Motions

Peng Xu, Chi Fai Cheung, Bing Li, Chunjin Wang, Chenyang Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061008.
Paper No: JMR-20-1553
https://doi.org/10.1115/1.4050829
Published Online: June 3, 2021
View Article titled, Design, Dynamic Analysis, and Experimental Evaluation of a Hybrid Parallel–Serial Polishing Machine With Decoupled Motions
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Topics: Design, Dynamic analysis, Kinematics, Polishing, End effectors, Machinery, Machining, Dynamic models, Simulation
Journal Articles

Control and Control Allocation for Bimodal, Rotary Wing, Rolling–Flying Vehicles

Stefan Atay, Matthew Bryant, Gregory Buckner
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050904.
Paper No: JMR-21-1015
https://doi.org/10.1115/1.4050998
Published Online: May 17, 2021
View Article titled, Control and Control Allocation for Bimodal, Rotary Wing, Rolling–Flying Vehicles
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Topics: Control equipment, Control systems, Rotors, Thrust, Vehicles, Uncertainty, Algorithms, Hardware, Design, Dynamic models
Journal Articles

Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact

Jiayin Xie, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041001.
Paper No: JMR-20-1012
https://doi.org/10.1115/1.4049877
Published Online: April 9, 2021
View Article titled, Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact
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Topics: Equations of motion, Friction, Hull, Modeling, Simulation, Dynamic models, Rigid-body mechanisms, Collisions (Physics), Impulse (Physics), Kinematics
Journal Articles

Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots

Jiayin Xie, Chenghao Bi, David J. Cappelleri, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041005.
Paper No: JMR-20-1242
https://doi.org/10.1115/1.4050098
Published Online: April 9, 2021
View Article titled, Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots
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Topics: Design, Dynamic models, Errors, Manufacturing, Robots, Simulation, Geometry, Aluminum, Adhesives, Magnetization
Journal Articles

Gateway Configuration for Rapid Pick-and-Place Operations of 2-Degrees-of-Freedom Parallel Robots

Andrea Martin-Parra, David Rodriguez-Rosa, Sergio Juarez-Perez, Guillermo Rubio-Gomez, Antonio Gonzalez-Rodriguez, Fernando J. Castillo-Garcia
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014504.
Paper No: JMR-20-1047
https://doi.org/10.1115/1.4048427
Published Online: November 13, 2020
View Article titled, Gateway Configuration for Rapid Pick-and-Place Operations of 2-Degrees-of-Freedom Parallel Robots
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Topics: End effectors, Energy consumption, Kinematics, Robots, Trajectories (Physics), Gates (Closures), Design, Torque, Dynamic models, Simulation
Journal Articles

Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System

Liwei Ni, Fangwu Ma, Linhe Ge, Liang Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011014.
Paper No: JMR-19-1488
https://doi.org/10.1115/1.4048226
Published Online: October 22, 2020
View Article titled, Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System
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Topics: Actuators, Damping, Design, Robots, Simulation, Suspension systems, Wheels, Springs, Control equipment, Vibration isolation
Journal Articles

An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion

Yujiong Liu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041003.
Paper No: JMR-19-1178
https://doi.org/10.1115/1.4045689
Published Online: March 6, 2020
View Article titled, An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
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Topics: Closed kinematic chains, Design, Dynamic models, Dynamics (Mechanics), Flight, Kinematics, Optimization, Robotics, Robots, Simulation
Journal Articles

Design, Modeling, and Motion Analysis of a Novel Fluid Actuated Spherical Rolling Robot

Seyed Amir Tafrishi, Mikhail Svinin, Esmaeil Esmaeilzadeh, Motoji Yamamoto
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041010.
Paper No: JMR-19-1053
https://doi.org/10.1115/1.4043689
Published Online: May 17, 2019
View Article titled, Design, Modeling, and Motion Analysis of a Novel Fluid Actuated Spherical Rolling Robot
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Topics: Actuators, Cylinders, Design, Fluids, Pipes, Robots, Torque, Engines, Motors, Simulation
Journal Articles

Minimum Base Attitude Disturbance Planning for a Space Robot During Target Capture

Jingchen Hu, Tianshu Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051002.
Paper No: JMR-17-1204
https://doi.org/10.1115/1.4040435
Published Online: June 27, 2018
View Article titled, Minimum Base Attitude Disturbance Planning for a Space Robot During Target Capture
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Topics: Robots, Dynamic models
Journal Articles

Dynamic Structural and Contact Modeling for a Silicon Hexapod Microrobot

Jinhong Qu, Jongsoo Choi, Kenn R. Oldham
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061006.
Paper No: JMR-17-1106
https://doi.org/10.1115/1.4037802
Published Online: September 18, 2017
View Article titled, Dynamic Structural and Contact Modeling for a Silicon Hexapod Microrobot
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Topics: Robots, Resonance, Adhesion, Dynamics (Mechanics), Dynamic models, Testing, Vibration, Silicon