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Journal Articles

Wrench Capability Analysis of a Cooperative Multi-UAV Parallel Robot with Rigid Links

Accepted Manuscript
Shiyu Liu, Stéphane Caro, Abdelhamid Chriette, Isabelle Fantoni
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1233
https://doi.org/10.1115/1.4068272
Published Online: March 21, 2025
View Article titled, Wrench Capability Analysis of a Cooperative Multi-UAV Parallel Robot with Rigid Links
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Topics: Robots, Unmanned aerial vehicles
Journal Articles

Design and Autonomous Obstacle-crossing Strategy of a Reconfigurable Closed-chain Legged Robot

Accepted Manuscript
Meng Zhao, Qiang Ruan, Jianxu Wu, Hong Liu, Yanan Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics.
Paper No: JMR-24-1378
https://doi.org/10.1115/1.4068274
Published Online: March 21, 2025
View Article titled, Design and Autonomous Obstacle-crossing Strategy of a Reconfigurable Closed-chain Legged Robot
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Topics: Chain, Design, Robots
Journal Articles

Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors

Severino Hernandez, Nina Robson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081002.
Paper No: JMR-24-1435
https://doi.org/10.1115/1.4067873
Published Online: March 20, 2025
View Article titled, Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors
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Topics: Design, Trajectories (Physics), Knee, Kinematics, Linkages, Robots, Engineering prototypes
Journal Articles

Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot

Qingjun Wu, Bin Zi, Bo Hu, Yuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081003.
Paper No: JMR-24-1422
https://doi.org/10.1115/1.4068120
Published Online: March 20, 2025
View Article titled, Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot
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Topics: Cables, Kinematics, Robots, End effectors, Springs, Dynamics (Mechanics), Modeling
Journal Articles

Automated Task-Based Approach to Modular Manipulator Design: Position Accuracy and Heavy Payload Capacity Requirements

Accepted Manuscript
Thais Campos Farley, Hadas Kress-Gazit
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1400
https://doi.org/10.1115/1.4068240
Published Online: March 18, 2025
View Article titled, Automated Task-Based Approach to Modular Manipulator Design: Position Accuracy and Heavy Payload Capacity Requirements
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Topics: Kinematics, Manipulator design, Robots, Design, Manipulators, Dynamic analysis, Dynamics (Mechanics), Optimization, Statics, Stiffness
Journal Articles

SomerBot: A Two-Legged Somersaulting Robotic Climber with Compliant Footpad

Accepted Manuscript
Kadali Sankar, Atul Thakur
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1505
https://doi.org/10.1115/1.4068242
Published Online: March 18, 2025
View Article titled, SomerBot: A Two-Legged Somersaulting Robotic Climber with Compliant Footpad
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Topics: Additive manufacturing, Adhesion, Design, Energy conservation, Energy efficiency, Engines, Inspection, Laser cutting, Manufacturing, Mobile robots
Journal Articles

Design and Analysis of Safety Evaluation of Parallel Cable-driven Upper Limb Rehabilitation Robot

Accepted Manuscript
Yupeng Zou, Keyu Pan, Qiang Yu, Jianheng Tang, Pengyue Wang, Junhe Chen, Kefei Wang, Minghan Jiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-25-1045
https://doi.org/10.1115/1.4068243
Published Online: March 18, 2025
View Article titled, Design and Analysis of Safety Evaluation of Parallel Cable-driven Upper Limb Rehabilitation Robot
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Topics: Cables, Design, Robots, Safety
Journal Articles

A Study on the Comparative Analysis of Self-Aligned and Alignment-Free Mechanism for Shoulder Rehabilitation

Accepted Manuscript
Qiang Cao, Yongqi Yuan, Guoyu Li, Wenhao Shan, Yue Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1633
https://doi.org/10.1115/1.4068185
Published Online: March 12, 2025
View Article titled, A Study on the Comparative Analysis of Self-Aligned and Alignment-Free Mechanism for Shoulder Rehabilitation
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Topics: Design, Displacement, Dynamics (Mechanics), Kinematics, Modeling, Robotics, Robots, Tradeoffs, Wearable devices
Journal Articles

Associate Editor of the Year

Accepted Manuscript
Ariel Simpson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics.
Paper No: JMR-25-1104
https://doi.org/10.1115/1.4068199
Published Online: March 12, 2025
View Article titled, Associate Editor of the Year
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Topics: Robots
Journal Articles

Design, Analysis and Development of a Novel 6-DOF Surgical Robot Using Cable-driven Composite Continuum Mechanisms with Decoupling Kinematic Method

Accepted Manuscript
Zhengyu Wang, Shiyang Bao, Xiang Yu, Xuchang Liu, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1563
https://doi.org/10.1115/1.4068165
Published Online: March 11, 2025
View Article titled, Design, Analysis and Development of a Novel 6-DOF Surgical Robot Using Cable-driven Composite Continuum Mechanisms with Decoupling Kinematic Method
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Topics: Cables, Composite materials, Design, Kinematics, Robots, Surgery
Journal Articles

Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance

Sipeng Zhou, Zihan Pu, Shaoke Yuan, Yanqiong Fei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. July 2025, 17(7): 075003.
Paper No: JMR-24-1295
https://doi.org/10.1115/1.4068019
Published Online: March 10, 2025
View Article titled, Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance
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Topics: Actuators, Airbags, Design, Kinematics, Muscle, Pneumatic actuators, Pressure, Robots, Rotation, Soft robots
Journal Articles

A New Method for Motion Decoupling Identification of Parallel Mechanisms

Accepted Manuscript
Huiping Shen, Ju Li, Tao Li, Xiangchao Kong, Pengda Ye, Wei Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1544
https://doi.org/10.1115/1.4068090
Published Online: March 4, 2025
View Article titled, A New Method for Motion Decoupling Identification of Parallel Mechanisms
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Topics: Parallel mechanisms, Chain, Jacobian matrices, Robots, Topology, Design
Journal Articles

Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

Milad Azizkhani, Junhyoung Ha, Anthony L. Gunderman, Yue Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071013.
Paper No: JMR-24-1405
https://doi.org/10.1115/1.4067753
Published Online: February 28, 2025
View Article titled, Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution
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Topics: Algorithms, Kinematics, Redundancy (Engineering), Resolution (Optics), Soft robots, Robots, Robotics, Simulation, Errors
Journal Articles

Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots

Liu Peng, Xuechao Duan, Xinzhou Qiao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071012.
Paper No: JMR-24-1373
https://doi.org/10.1115/1.4067923
Published Online: February 27, 2025
View Article titled, Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots
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Topics: Cables, Robots, Stability, End effectors
Journal Articles

On the Climbing Ability of Passively Suspended Tracked Robots

Giulio Reina, Giacomo Mantriota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. July 2025, 17(7): 075001.
Paper No: JMR-24-1370
https://doi.org/10.1115/1.4067624
Published Online: February 24, 2025
View Article titled, On the Climbing Ability of Passively Suspended Tracked Robots
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Topics: Robots, Wheels, Negotiation
Journal Articles

Design of Rolling Motion for Snake-Like Robots Using Center-of-Gravity Shift

Akio Yamano, Tsuyoshi Kimoto, Masakatsu Chiba
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061011.
Paper No: JMR-24-1225
https://doi.org/10.1115/1.4067307
Published Online: January 20, 2025
View Article titled, Design of Rolling Motion for Snake-Like Robots Using Center-of-Gravity Shift
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Topics: Design, Robots, Servomotors, Optimization, Time series, Energy consumption, Center of mass, Pareto optimization
Journal Articles

Cable Force Distribution and Motion Control for a Cable-Driven Super-Redundant Robot Under Stiffness Constraints

Guiben Tuo, Yongqing Wang, Te Li, Zhenye Shang, Xu Li, Haibo Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061012.
Paper No: JMR-24-1371
https://doi.org/10.1115/1.4067346
Published Online: January 20, 2025
View Article titled, Cable Force Distribution and Motion Control for a Cable-Driven Super-Redundant Robot Under Stiffness Constraints
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Topics: Cables, Robots, Stiffness, Motion control, Tension, Optimization
Journal Articles

On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots

Neel Shihora, Jared Lawson, Paul Moubarak, Maximilian Reese, Long Wang, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061013.
Paper No: JMR-24-1386
https://doi.org/10.1115/1.4067432
Published Online: January 20, 2025
View Article titled, On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots
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Topics: Kinematics, Tension, Uncertainty, Wire, Design, End effectors, Robots
Journal Articles

Design and Analysis of a Mobile Robot With Transformable Wheel-Legged Mechanism

Haibo Li, Zijian Xie, Yu Cao, Rong Zhang, Jianjun Qin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061015.
Paper No: JMR-24-1372
https://doi.org/10.1115/1.4067482
Published Online: January 20, 2025
View Article titled, Design and Analysis of a Mobile Robot With Transformable Wheel-Legged Mechanism
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Topics: Robots, Wheels, Deformation, Design, Mobile robots
Journal Articles

An Ultrasound-Guided Miniature Hand-Eye Integrated Robot for Percutaneous Needle Placement

Haiyuan Li, Tian He, Mingda Yang, Minghui Chao, Qinjian Zhang, Hongxing Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2025, 17(6): 065001.
Paper No: JMR-24-1347
https://doi.org/10.1115/1.4067530
Published Online: January 20, 2025
View Article titled, An Ultrasound-Guided Miniature Hand-Eye Integrated Robot for Percutaneous Needle Placement
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Topics: Calibration, Needles, Robots, Kinematics, Probes, Ultrasound