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Design of Mechanisms and Robotic Systems
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Journal Articles

Advancing Soft Robotics: A High Energy-Efficient Actuator Design Using Single-Tube Pneumatic for Bidirectional Movement

Mahtab Behzadfar, Yue Feng, Ki-Young Song
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2025, 147(4): 043301.
Paper No: MD-24-1706
https://doi.org/10.1115/1.4068073
Published Online: March 20, 2025
View Article titled, Advancing Soft Robotics: A High Energy-Efficient Actuator Design Using Single-Tube Pneumatic for Bidirectional Movement
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Topics: Actuators, Design, Energy efficiency, Friction, Pressure, Robots, Soft robots, Robotics, Internal energy (Physics), Pneumatic actuators
Journal Articles

Nonlinear Design of a General Single-Translation Constraint and the Resulting General Spherical Joint

Jiaxiang Zhu, Shiyao Li, Guangbo Hao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2025, 147(10): 103301.
Paper No: MD-24-1592
https://doi.org/10.1115/1.4068101
Published Online: March 20, 2025
View Article titled, Nonlinear Design of a General Single-Translation Constraint and the Resulting General Spherical Joint
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Topics: Design, Displacement, Finite element analysis, Geometry, Rotation, Engineering prototypes, Modeling, Errors, Stress, Manufacturing
Journal Articles

Motion Analysis and Orientation Holding Control of a 3-RRR Rigid-Flexible Coupling Mechanism for Photovoltaic Panel Assembly

Sen Qian, Guohua Song, Bin Zi
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2025, 147(10): 103302.
Paper No: MD-24-1593
https://doi.org/10.1115/1.4068102
Published Online: March 20, 2025
View Article titled, Motion Analysis and Orientation Holding Control of a 3-RRR Rigid-Flexible Coupling Mechanism for Photovoltaic Panel Assembly
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Topics: Kinematics, Manufacturing, Photovoltaic panels, Robots, Simulation, Cables, Errors, Signals, Parallel mechanisms
Journal Articles

Design and Analysis of a Cable-Driven Lower Limb Rehabilitation Robot With Variable Stiffness Joints

Xiangxu Qu, Cui Liu, Lan Dong, Yuting Zhang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2025, 147(9): 093305.
Paper No: MD-24-1701
https://doi.org/10.1115/1.4068105
Published Online: March 18, 2025
View Article titled, Design and Analysis of a Cable-Driven Lower Limb Rehabilitation Robot With Variable Stiffness Joints
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Topics: Cables, Robots, Stiffness, Tension, Design
Journal Articles

Considering Boundary Conditions in the Design of Compliant Mechanisms with Desired Force Profiles

Accepted Manuscript
Bethany Parkinson, Brian D. Jensen, Larry L. Howell, Spencer P. Magleby
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des.
Paper No: MD-24-1877
https://doi.org/10.1115/1.4068231
Published Online: March 18, 2025
View Article titled, Considering Boundary Conditions in the Design of Compliant Mechanisms with Desired Force Profiles
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Topics: Boundary-value problems, Compliant mechanisms, Design
Journal Articles

Fast Response Gripper Based on Asymmetric Bistable Dual-Triangle Tensegrity Structure

Wenlong Yang, Jiahui Luo, Xiaoming Xu, Kun Liu, Zhenbo Lu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2025, 147(9): 093301.
Paper No: MD-24-1307
https://doi.org/10.1115/1.4067920
Published Online: March 13, 2025
View Article titled, Fast Response Gripper Based on Asymmetric Bistable Dual-Triangle Tensegrity Structure
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Topics: Equilibrium (Physics), Grippers, Optimization, Tensegrity structures
Journal Articles

In Situ Variable Stiffness Strategy for a Planar Tensegrity Manipulator Using Quadratic Programming

Yanghui Chen, Jiahui Luo, Jiafu Liu, Xiaoming Xu, Jianping Jiang, Weimeng Chu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2025, 147(9): 093302.
Paper No: MD-24-1670
https://doi.org/10.1115/1.4067922
Published Online: March 13, 2025
View Article titled, In Situ Variable Stiffness Strategy for a Planar Tensegrity Manipulator Using Quadratic Programming
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Topics: Stiffness, Manipulators, Cables, Tensegrity
Journal Articles

Design, Analysis, and Experimental Evaluation of a New Expansion Screw Using Compliant Mechanisms

Jinqiang Gan, Feng Chen, Ming-Feng Ge, Qinghua Lu, Weilin Chen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2025, 147(9): 093303.
Paper No: MD-24-1767
https://doi.org/10.1115/1.4068017
Published Online: March 13, 2025
View Article titled, Design, Analysis, and Experimental Evaluation of a New Expansion Screw Using Compliant Mechanisms
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Topics: Screws, Design, Compliant mechanisms, Load bearing capacity
Journal Articles

Design of a 6-DOF Heavy-Duty and High-Precision 3–3 Orthogonal Parallel Robot With Flexible Hinges

Chenkun Qi, Jianfeng Lin, Yan Hu, Songlin Zhou, Feng Gao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2025, 147(9): 093304.
Paper No: MD-24-1860
https://doi.org/10.1115/1.4068018
Published Online: March 13, 2025
View Article titled, Design of a 6-DOF Heavy-Duty and High-Precision 3–3 Orthogonal Parallel Robot With Flexible Hinges
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Topics: Design, Displacement, Isotropy, Modeling, Robots, Rotation, Stiffness, Torque, Hinges, Chain
Journal Articles

ANALYTICAL PLANAR DESIGN OF MULTI-AXIAL RIGID LOAD-BEARING TENDON CONSTRAINED INFLATABLES

Accepted Manuscript
Ellen Kim, Jonathan Luntz, Diann Brei
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des.
Paper No: MD-24-1787
https://doi.org/10.1115/1.4068164
Published Online: March 11, 2025
View Article titled, ANALYTICAL PLANAR DESIGN OF MULTI-AXIAL RIGID LOAD-BEARING TENDON CONSTRAINED INFLATABLES
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Topics: Bearings, Design, Stress, Tendons
Journal Articles

Compliant Toggle-Linkage Mechanisms: A New Type of Displacement–Force Amplification Principle

Shilei Wu, Mingxiang Ling
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083304.
Paper No: MD-24-1668
https://doi.org/10.1115/1.4067748
Published Online: February 26, 2025
View Article titled, Compliant Toggle-Linkage Mechanisms: A New Type of Displacement–Force Amplification Principle
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Topics: Bending (Stress), Design, Displacement, Levers, Linkages, Stiffness, Modeling, Gates (Closures), Compliant mechanisms
Journal Articles

A Variable Stiffness Soft Robotic Hand Featuring Ball-Jointed Skeleton Coupled With Particles

Xiulu Liu, Lekang Lin, Zirui Song, Jiale Li, Liqiang Xu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083305.
Paper No: MD-24-1702
https://doi.org/10.1115/1.4067868
Published Online: February 26, 2025
View Article titled, A Variable Stiffness Soft Robotic Hand Featuring Ball-Jointed Skeleton Coupled With Particles
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Topics: Particulate matter, Stiffness, End effectors, Grasping, Design
Journal Articles

Dynamic Modeling, Uncertainty Analysis, and Experimental Study of a New Cable-Driven Parallel Robot With Interval Variables

Bin Zhou, Sipan Li, Zhiyuan Wang, Bing Chen, Bin Zi
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083301.
Paper No: MD-24-1463
https://doi.org/10.1115/1.4067712
Published Online: February 25, 2025
View Article titled, Dynamic Modeling, Uncertainty Analysis, and Experimental Study of a New Cable-Driven Parallel Robot With Interval Variables
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Topics: Cables, Dynamic modeling, Dynamic response, Errors, Polynomials, Robots, Uncertainty analysis, Kinematics, Thrust, Equilibrium (Physics)
Journal Articles

Optimal Synthesis of Zero-Stiffness Compliant Mechanisms Based on Potential Energy Principle

Zewei Li, Mohui Jin, Weisheng Wang, Mingyu Qu, Xing Xu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083303.
Paper No: MD-24-1566
https://doi.org/10.1115/1.4067714
Published Online: February 25, 2025
View Article titled, Optimal Synthesis of Zero-Stiffness Compliant Mechanisms Based on Potential Energy Principle
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Topics: Compliant mechanisms, Displacement, Potential energy, Stiffness, Optimization, Modeling, Finite element analysis, Stress, Design
Journal Articles

Evolution Design Methodology of the Metamorphic Mechanisms Inspired by Gene Deduction

Yang Zhang, Peng Xu, Bing Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083302.
Paper No: MD-24-1414
https://doi.org/10.1115/1.4067743
Published Online: February 25, 2025
View Article titled, Evolution Design Methodology of the Metamorphic Mechanisms Inspired by Gene Deduction
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Topics: Biology, Chain, Design, Design methodology, Kinematics, Parallel mechanisms, Kinematic chains, Bifurcation
Journal Articles

Design and Evaluation of Three-Phalange Underactuated Adaptive LSDH Finger

Mengfei Ren, Jinbao Chen, Chen Wang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2025, 147(7): 073303.
Paper No: MD-24-1476
https://doi.org/10.1115/1.4067454
Published Online: January 30, 2025
View Article titled, Design and Evaluation of Three-Phalange Underactuated Adaptive LSDH Finger
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Topics: Design, Grasping, Linkages, Motors, Splines, Kinematics, Rotation
Journal Articles

A Multi-Layer Parallelogram Flexure Architecture for Higher Out-of-Plane Load Bearing Stiffness

Moeen Radgolchin, Siddharth Rath, Shorya Awtar
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2025, 147(7): 073302.
Paper No: MD-24-1426
https://doi.org/10.1115/1.4067452
Published Online: January 16, 2025
View Article titled, A Multi-Layer Parallelogram Flexure Architecture for Higher Out-of-Plane Load Bearing Stiffness
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Topics: Stiffness, Bending (Stress), Design
Journal Articles

Novel Design of Wrist With Gripper: Type Synthesis of a 2R1T Parallel Mechanism Possessing One Actuation Degree-of-Freedom

Jingyao Zhang, Jiantao Yao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2025, 147(7): 073301.
Paper No: MD-24-1554
https://doi.org/10.1115/1.4067428
Published Online: January 15, 2025
View Article titled, Novel Design of Wrist With Gripper: Type Synthesis of a 2R1T Parallel Mechanism Possessing One Actuation Degree-of-Freedom
Open the PDF for Novel Design of Wrist With Gripper: Type Synthesis of a 2R1T Parallel Mechanism Possessing One Actuation Degree-of-Freedom in another window
Topics: Constraint systems, Design, Grippers, Parallel mechanisms, Screws, Topology, Degrees of freedom, Rotation, Simulation
Journal Articles

Error Sensitivity Analysis of a 1T2R Kinematically Redundant Parallel Mechanism With Closed-Loop Chain

Zhizhen Zhou, Haibo Qu, Xiao Li, Buqin Hu, Sheng Guo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2025, 147(5): 053301.
Paper No: MD-24-1192
https://doi.org/10.1115/1.4066747
Published Online: November 1, 2024
View Article titled, Error Sensitivity Analysis of a 1T2R Kinematically Redundant Parallel Mechanism With Closed-Loop Chain
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Topics: Errors
Journal Articles

Novel Soft Gripper With Adjustable Performance Based on Blade Flexures

Mauricio Arredondo-Soto, Enrique Cuan-Urquizo, Alfonso Gómez-Espinosa, Armando Roman-Flores, Rafiq Ahmad
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2025, 147(3): 033301.
Paper No: MD-24-1053
https://doi.org/10.1115/1.4066548
Published Online: October 18, 2024
View Article titled, Novel Soft Gripper With Adjustable Performance Based on Blade Flexures
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Topics: Displacement, Grippers, Blades, Overlays (Materials engineering), Robots
Includes: Supplementary data