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Journal Articles

Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced

Accepted Manuscript
Zhaopeng Jin, Yanzhi Zhao, Yajun Liu, Yu Shan, Yue Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1538
https://doi.org/10.1115/1.4066744
Published Online: September 30, 2024
View Article titled, Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced
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Topics: Design, Force feedback, Jacobian matrices, Weight (Mass), Errors, Robots, Transparency, Engineering prototypes, Feedback, Gravity (Force)
Journal Articles

Push Recovery of a Biped in Different Stance Scenarios

Accepted Manuscript
Alinjar Dan, Subir Kumar Saha, Rama Krishna K, Amit Sawant, Gurmann Singh Bhullar, Tarannum Perween
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1394
https://doi.org/10.1115/1.4066443
Published Online: September 5, 2024
View Article titled, Push Recovery of a Biped in Different Stance Scenarios
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Topics: Actuators, Center of mass, Control equipment, Dynamics (Mechanics), Geometry, Impulse (Physics), Jacobian matrices, Kinematics, Momentum, Multibody dynamics
Journal Articles

Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions

Rongfu Lin, Weizhong Guo, Wenhui Zeng, Kim Yan, Chun Ping Lam, Shing Shin Cheng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021010.
Paper No: JMR-24-1062
https://doi.org/10.1115/1.4066132
Published Online: September 3, 2024
View Article titled, Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions
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Topics: Design, Kinematics, End effectors, Jacobian matrices, Rotation, Screws, Engineering prototypes
Journal Articles

Analysis of Instantaneous Kinematic Properties Regarding the Shape of Robotic Mechanisms

Keisuke Arikawa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121013.
Paper No: JMR-23-1821
https://doi.org/10.1115/1.4065371
Published Online: May 21, 2024
View Article titled, Analysis of Instantaneous Kinematic Properties Regarding the Shape of Robotic Mechanisms
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Topics: Jacobian matrices, Kinematics, Shapes, Robotics, Kinematic analysis, Equilibrium (Physics)
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

Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism

Hao Pan, Shujie Tang, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071015.
Paper No: JMR-23-1104
https://doi.org/10.1115/1.4063870
Published Online: November 14, 2023
View Article titled, Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism
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Topics: End effectors, Force control, Parallel mechanisms, Statics, Stiffness, Jacobian matrices, Simulation, Rods, Kinematics
Journal Articles

Workspace, Singularity, and Dexterity Analyses of a Six-Degrees-of-Freedom SDelta Robot With an Orthogonal Base Platform

Metin Toz, Hasiaoqier Han, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071010.
Paper No: JMR-23-1306
https://doi.org/10.1115/1.4063574
Published Online: October 20, 2023
View Article titled, Workspace, Singularity, and Dexterity Analyses of a Six-Degrees-of-Freedom SDelta Robot With an Orthogonal Base Platform
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Topics: Design, Kinematics, Robots, Jacobian matrices, Degrees of freedom, Machinery
Journal Articles

Development of a Base-Actuated Three-Rhombus Configured Remote Center of Motion Mechanism for Lumbar Puncture

Yuzhou Duan, Jie Ling, Zhao Feng, Daojin Yao, Yuchuan Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054503.
Paper No: JMR-22-1386
https://doi.org/10.1115/1.4062761
Published Online: July 20, 2023
View Article titled, Development of a Base-Actuated Three-Rhombus Configured Remote Center of Motion Mechanism for Lumbar Puncture
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Topics: Design, End effectors, Kinematics, Optimization, Needles, Errors, Linkages, Jacobian matrices, Engineering prototypes
Journal Articles

A Novel Integrated Design Method of Parallel Mechanisms Based on Performance Requirements

Shihua Li, Yunzhan Niu, Jilong Xu, Haibo Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2024, 16(4): 044502.
Paper No: JMR-22-1435
https://doi.org/10.1115/1.4062549
Published Online: June 9, 2023
View Article titled, A Novel Integrated Design Method of Parallel Mechanisms Based on Performance Requirements
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Topics: Construction, Design, Design methodology, Jacobian matrices, Parallel mechanisms, Topology, Screws
Journal Articles

Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures

Jianguo Cai, Qiuyue Zhong, Xiaohui Zhang, Kexin Wang, Qian Zhang, Jian Feng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061015.
Paper No: JMR-22-1402
https://doi.org/10.1115/1.4056576
Published Online: January 23, 2023
View Article titled, Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures
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Topics: Bifurcation, Kinematics, Mechanical admittance, Plates (structures), Degrees of freedom, Jacobian matrices, Trajectories (Physics)
Journal Articles

Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot

Zhou Zhou, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051009.
Paper No: JMR-22-1136
https://doi.org/10.1115/1.4055965
Published Online: November 24, 2022
View Article titled, Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot
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Topics: Kinematics, Robots, Design, Chain, Jacobian matrices
Journal Articles

Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs

Xiao Li, Haibo Qu, Sheng Guo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021014.
Paper No: JMR-21-1753
https://doi.org/10.1115/1.4054767
Published Online: June 23, 2022
View Article titled, Kinematic Performance and Static Analysis of a Two-Degree-of-Freedom 3-RPS/US Parallel Manipulator With Two Passive Limbs
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Topics: Kinematics, Parallel mechanisms, Reactor protection systems, Load bearing capacity, Jacobian matrices, Manipulators, Design
Journal Articles

Kinematics, Dynamics, and Experiments of n(3RRlS) Reconfigurable Series–Parallel Manipulators for Capturing Space Noncooperative Targets

Chong Zhao, Ke Wang, Haifeng Zhao, Hongwei Guo, Rongqiang Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060902.
Paper No: JMR-21-1670
https://doi.org/10.1115/1.4054245
Published Online: April 21, 2022
View Article titled, Kinematics, Dynamics, and Experiments of n(3RRlS) Reconfigurable Series–Parallel Manipulators for Capturing Space Noncooperative Targets
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Topics: Dynamics (Mechanics), Jacobian matrices, Kinematics, Manipulators, Deformation
Journal Articles

A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE (3) and Its Subspaces

A. J. Sánchez-García, J. M. Rico, J. J. Cervantes-Sánchez, P. C. López-Custodio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031015.
Paper No: JMR-20-1458
https://doi.org/10.1115/1.4050096
Published Online: March 15, 2021
View Article titled, A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE (3) and Its Subspaces
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Topics: Kinematics, Mechanical admittance, Screws, Lie algebras, Chain, Jacobian matrices
Journal Articles

A New Index of Static Actuation Force Sensitivity of Mechanisms Based on Unified Forward Jacobian Matrix

Xu Wang, Weizhong Guo, Youcheng Han
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061001.
Paper No: JMR-19-1343
https://doi.org/10.1115/1.4046976
Published Online: May 11, 2020
View Article titled, A New Index of Static Actuation Force Sensitivity of Mechanisms Based on Unified Forward Jacobian Matrix
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Topics: End effectors, Jacobian matrices, Parallel mechanisms, Screws, Stress, Equations of state
Journal Articles

Optimization of the Rotational Asymmetric Parallel Mechanism for Hip Rehabilitation With Force Transmission Factors

Wuxiang Zhang, Wei Zhang, Xilun Ding, Lei Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041006.
Paper No: JMR-19-1257
https://doi.org/10.1115/1.4045847
Published Online: March 6, 2020
View Article titled, Optimization of the Rotational Asymmetric Parallel Mechanism for Hip Rehabilitation With Force Transmission Factors
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Topics: Optimization, Parallel mechanisms, Jacobian matrices, Chain
Journal Articles

A 3-R(SRS)RP Multi-Loop Mechanism for Space Manipulation: Design, Kinematics, Singularity, and Workspace

Chuanyang Li, Hongwei Guo, Dewei Tang, Huiyin Yan, Rongqiang Liu, Zongquan Deng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011001.
Paper No: JMR-19-1100
https://doi.org/10.1115/1.4044911
Published Online: October 9, 2019
View Article titled, A 3-R(SRS)RP Multi-Loop Mechanism for Space Manipulation: Design, Kinematics, Singularity, and Workspace
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Topics: Design, Kinematics, Hinges, Jacobian matrices
Journal Articles

Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism

Louis-Thomas Schreiber, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 021005.
Paper No: JMR-18-1337
https://doi.org/10.1115/1.4042346
Published Online: February 27, 2019
View Article titled, Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism
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Topics: Actuators, Kinematics, Parallel mechanisms, Redundancy (Engineering), Jacobian matrices, Degrees of freedom, Trajectories (Physics), Manipulators
Journal Articles

Type Synthesis of Parallel Mechanisms With a Constant Jacobian Matrix

Yanzhi Zhao, Yachao Cao, Xianwen Kong, Tieshi Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061011.
Paper No: JMR-17-1411
https://doi.org/10.1115/1.4040962
Published Online: September 25, 2018
View Article titled, Type Synthesis of Parallel Mechanisms With a Constant Jacobian Matrix
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Topics: Jacobian matrices, Parallel mechanisms, Screws
Journal Articles

A Transmission Quality Index for a Class of Four-Limb Parallel Schönflies Motion Generators

Guanglei Wu, Shaoping Bai, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051014.
Paper No: JMR-17-1065
https://doi.org/10.1115/1.4040353
Published Online: July 30, 2018
View Article titled, A Transmission Quality Index for a Class of Four-Limb Parallel Schönflies Motion Generators
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Topics: Robots, Pressure, Jacobian matrices