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Journal Articles

Inverse Kinematics Solution Method of an Adaptive Piecewise Geometry for Cable-Driven Hyper-Redundant Manipulator

Accepted Manuscript
Qiang Yang, Qinghua Zhou, Guangwu Zhou, Ming Jiang, Zhijun Zhao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1649
DOI: https://doi.org/10.1115/1.4062606
Published Online: May 23, 2023
View Article titled, Inverse Kinematics Solution Method of an Adaptive Piecewise Geometry for Cable-Driven Hyper-Redundant Manipulator
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Topics: Cables, Geometry, Kinematics, Manipulators
Journal Articles

A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot

Wenqian Du, Mohamed Fnadi, Faïz Benamar
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041005.
Paper No: JMR-22-1146
DOI: https://doi.org/10.1115/1.4055060
Published Online: November 10, 2022
View Article titled, A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot
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Topics: Control equipment, Dynamics (Mechanics), Generators, Robots, Torque, Wheels, Kinematics, Surface roughness, Geometry
Journal Articles

Geometry and Kinematics of Cylindrical Waterbomb Tessellation

Rinki Imada, Tomohiro Tachi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041009.
Paper No: JMR-21-1548
DOI: https://doi.org/10.1115/1.4054478
Published Online: May 26, 2022
View Article titled, Geometry and Kinematics of Cylindrical Waterbomb Tessellation
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Topics: Bifurcation, Cylinders, Kinematics, Stability, Waves, Geometry, Dynamic systems, Visualization
Journal Articles

Locking Zipper-Coupled Origami Tubes for Deployable Energy Absorption

Zhongyuan Wo, Julia M. Raneses, Evgueni T. Filipov
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041007.
Paper No: JMR-21-1552
DOI: https://doi.org/10.1115/1.4054363
Published Online: May 2, 2022
View Article titled, Locking Zipper-Coupled Origami Tubes for Deployable Energy Absorption
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Topics: Absorption, Geometry, Stiffness, Buckling, Manufacturing, Design, Displacement
Journal Articles

Planar Compliance Realization With Two 3-Joint Serial Mechanisms

Shuguang Huang, Joseph M. Schimmels
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051007.
Paper No: JMR-21-1514
DOI: https://doi.org/10.1115/1.4053284
Published Online: February 21, 2022
View Article titled, Planar Compliance Realization With Two 3-Joint Serial Mechanisms
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Topics: Parallel mechanisms, Springs, Stiffness, Geometry
Journal Articles

Rigid-Foldable Mechanism Inspired by Origami Twisted Tower

Xin Wu, Canjun Yang, Jia Li, Qichao Zhao, Weitao Wu, Yuanchao Zhu, Feng Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2022, 14(5): 054503.
Paper No: JMR-21-1356
DOI: https://doi.org/10.1115/1.4053736
Published Online: February 21, 2022
View Article titled, Rigid-Foldable Mechanism Inspired by Origami Twisted Tower
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Topics: Design, Geometry, Manufacturing, Manipulators
Journal Articles

Toward the Design of Kresling Tower Origami As a Compliant Building Block

J. Berre, F. Geiskopf, L. Rubbert, P. Renaud
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2022, 14(4): 045002.
Paper No: JMR-21-1532
DOI: https://doi.org/10.1115/1.4053378
Published Online: February 21, 2022
View Article titled, Toward the Design of Kresling Tower Origami As a Compliant Building Block
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Topics: Design, Kinematics, Stiffness, Engineering prototypes, Manufacturing, Blocks (Building materials), Geometry
Journal Articles

Folding Responses of Origami-Inspired Structures Connected by Groove Compliant Joints

Qian Zhang, Yuanyuan Li, Ahmad BH Kueh, Zelun Qian, Jianguo Cai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031010.
Paper No: JMR-21-1193
DOI: https://doi.org/10.1115/1.4052803
Published Online: November 18, 2021
View Article titled, Folding Responses of Origami-Inspired Structures Connected by Groove Compliant Joints
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Topics: Compliant mechanisms, Design, Origami-inspired design, Stiffness, Stress, Errors, Geometry
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
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041005.
Paper No: JMR-20-1242
DOI: 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

Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031007.
Paper No: JMR-20-1443
DOI: https://doi.org/10.1115/1.4050152
Published Online: March 12, 2021
View Article titled, Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints
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Topics: Construction, Degrees of freedom, Kinematics, Mechanical admittance, Switches, Trajectories (Physics), Algebra, Circuits, Cables, Gears
Journal Articles

Deployable Convex Generalized Cylindrical Surfaces Using Torsional Joints

Todd G. Nelson, Luis M. Baldelomar Pinto, Jared T. Bruton, Zhicheng Deng, Curtis G. Nelson, Larry L. Howell
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031003.
Paper No: JMR-20-1436
DOI: https://doi.org/10.1115/1.4049951
Published Online: March 12, 2021
View Article titled, Deployable Convex Generalized Cylindrical Surfaces Using Torsional Joints
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Topics: Airfoils, Errors, Geometry, Optimization, Shapes, Springs, Stiffness, Stress, Torsion, Design
Journal Articles

Reprogrammable Kinematic Branches in Tessellated Origami Structures

Phanisri P. Pratapa, Ke Liu, Siva P. Vasudevan, Glaucio H. Paulino
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031004.
Paper No: JMR-20-1441
DOI: https://doi.org/10.1115/1.4049949
Published Online: March 12, 2021
View Article titled, Reprogrammable Kinematic Branches in Tessellated Origami Structures
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Topics: Geometry, Kinematics, Deformation, Poisson ratio
Journal Articles

Sensorless In-Hand Manipulation by An Underactuated Robot Hand

Diego Ospina, Alejandro Ramirez-Serrano
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051009.
Paper No: JMR-19-1326
DOI: https://doi.org/10.1115/1.4046652
Published Online: April 13, 2020
View Article titled, Sensorless In-Hand Manipulation by An Underactuated Robot Hand
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Topics: Actuators, Engineering prototypes, End effectors, Shapes, Geometry, Artificial limbs, Grasping
Journal Articles

Special Issue: Selected Papers From IDETC 2019

Charles Kim, Anurag Purwar, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Article Type: Guest Editorial
J. Mechanisms Robotics. April 2020, 12(2): 020301.
Paper No: JMR-20-1026
DOI: https://doi.org/10.1115/1.4046177
Published Online: February 21, 2020
View Article titled, Special Issue: Selected Papers From IDETC 2019
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Topics: Cables, Design, Robotics, Robots, Kinematics, Biomimetics, Geometry, Manipulators, Modeling, Unmanned aerial vehicles
Journal Articles

Synthesis of Planar Compliances With Mechanisms Having Six Compliant Components: Geometric Approach

Shuguang Huang, Joseph M. Schimmels
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031013.
Paper No: JMR-19-1297
DOI: https://doi.org/10.1115/1.4045648
Published Online: February 6, 2020
View Article titled, Synthesis of Planar Compliances With Mechanisms Having Six Compliant Components: Geometric Approach
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Topics: Parallel mechanisms, Springs, Stiffness, Geometry
Journal Articles

A Bar and Hinge Model for Simulating Bistability in Origami Structures With Compliant Creases

Yi Zhu, Evgueni T. Filipov
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021110.
Paper No: JMR-19-1425
DOI: https://doi.org/10.1115/1.4045955
Published Online: February 6, 2020
View Article titled, A Bar and Hinge Model for Simulating Bistability in Origami Structures With Compliant Creases
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Topics: Deformation, Hinges, Simulation, Springs, Stiffness, Geometry
Journal Articles

On the Geometry of Stiffness and Compliance Under Concatenation

Charles J. Kim
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021113.
Paper No: JMR-19-1394
DOI: https://doi.org/10.1115/1.4046048
Published Online: February 6, 2020
View Article titled, On the Geometry of Stiffness and Compliance Under Concatenation
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Topics: Blocks (Building materials), Design, Stiffness, Geometry, Compliant mechanisms
Journal Articles

Kinematic Geometry Description of a Line With Four Positions and Its Application in Dimension Synthesis of Spatial Linkage

Song Lin, Hanchao Wang, Yu Zhang, Jingyu Jiang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031006.
Paper No: JMR-19-1278
DOI: https://doi.org/10.1115/1.4045426
Published Online: January 13, 2020
View Article titled, Kinematic Geometry Description of a Line With Four Positions and Its Application in Dimension Synthesis of Spatial Linkage
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Topics: Dimensions, Geometry, Kinematics, Linkages, Rotation
Journal Articles

Curvature Theory on Contact and Transfer Characteristics of Enveloping Curves

Cody Leeheng Chan, Kwun-Lon Ting
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011018.
Paper No: JMR-19-1058
DOI: https://doi.org/10.1115/1.4045247
Published Online: October 31, 2019
View Article titled, Curvature Theory on Contact and Transfer Characteristics of Enveloping Curves
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Topics: Cylinders, Kinematics, Trajectories (Physics), Geometry
Journal Articles

Geometrical Analysis of Connecting Beam Mandala: A Planar Deployable Mechanism

Bin Chen, Jie Hu, Weixing Chen, Jin Qi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011009.
Paper No: JMR-19-1006
DOI: https://doi.org/10.1115/1.4044538
Published Online: October 16, 2019
View Article titled, Geometrical Analysis of Connecting Beam Mandala: A Planar Deployable Mechanism
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Topics: Geometry, Theorems (Mathematics), Wings, Construction