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Journal Articles

A Multi-Objective Optimal Design Method for Gravity Compensators with Consideration of Minimizing Joint Reaction Forces

Accepted Manuscript
Vu Linh Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics.
Paper No: JMR-23-1288
https://doi.org/10.1115/1.4064236
Published Online: December 7, 2023
View Article titled, A Multi-Objective Optimal Design Method for Gravity Compensators with Consideration of Minimizing Joint Reaction Forces
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Topics: Design, Design methodology, Gravity (Force), Torque, Compliant mechanisms, Engineering prototypes, Robots, Dynamics (Mechanics), Engines, Genetic algorithms
Journal Articles

Constant Force Spring System with a Spiral – Part 2: Accuracy assessment

Accepted Manuscript
Vittorio Zampoli, Richard Hetnarski
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1352
https://doi.org/10.1115/1.4064130
Published Online: November 23, 2023
View Article titled, Constant Force Spring System with a Spiral – Part 2: Accuracy assessment
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Topics: Springs, Design, Differential equations, Kinematics, Numerical analysis, Robotics, Testing, Winding (process)
Journal Articles

Ring origami spring capable of eversion morphing

Accepted Manuscript
Yu Zou, Chen Qianying, Lu Lu, Xiying Li, Hongyuan Li, Li-Hua Shao, Huiling Duan, Pengyu Lv
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1348
https://doi.org/10.1115/1.4063978
Published Online: November 2, 2023
View Article titled, Ring origami spring capable of eversion morphing
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Topics: Springs, Architectural engineering, Biomedical engineering, Design, Mechanical properties, Metamaterials, Robots, Shapes, Soft robots, Water
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

Six-Bar Linkages With Compliant Mechanisms for Programmable Mechanical Structures

Michael Pieber, Johannes Gerstmayr
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061008.
Paper No: JMR-23-1221
https://doi.org/10.1115/1.4063168
Published Online: October 4, 2023
View Article titled, Six-Bar Linkages With Compliant Mechanisms for Programmable Mechanical Structures
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Topics: Bending (Stress), Compliant mechanisms, Errors, Finite element methods, Hinges, Linkages, Rotation, Stiffness, Mechanical structures, Torque
Journal Articles

Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects

Seon Mi Jo, Hae-Sung Yoon
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021013.
Paper No: JMR-22-1521
https://doi.org/10.1115/1.4062983
Published Online: August 8, 2023
View Article titled, Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects
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Topics: Design, Energy efficiency, Grippers, Shape memory alloys, Springs, Wire, Shapes, Manufacturing
Journal Articles

A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces

Guillaume Jeanneau, Vincent Bégoc, Sébastien Briot
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041012.
Paper No: JMR-22-1535
https://doi.org/10.1115/1.4062946
Published Online: August 8, 2023
View Article titled, A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces
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Topics: Robots, Springs, Stiffness
Journal Articles

Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction

Bowen Zheng, Pengpeng Xu, Zhaoqi Guo, Longhan Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041009.
Paper No: JMR-22-1596
https://doi.org/10.1115/1.4062499
Published Online: June 9, 2023
View Article titled, Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction
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Topics: Deflection, Stiffness, Torque, Motors, Springs, Actuators, Torsion, Origami-inspired design
Journal Articles

Design and Evaluation of a Smooth-Locking-Based Customizable Prosthetic Knee Joint

Kunyang Wang, Harry Williams, Zhihui Qian, Guowu Wei, Haohua Xiu, Wei Chen, Xuewei Lu, Jianqiao Jin, Lei Ren, Wei Liang, Luquan Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041008.
Paper No: JMR-22-1158
https://doi.org/10.1115/1.4062498
Published Online: June 9, 2023
View Article titled, Design and Evaluation of a Smooth-Locking-Based Customizable Prosthetic Knee Joint
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Topics: Artificial limbs, Design, Knee, Springs, Prostheses, Anterior cruciate ligament, Relaxation (Physics)
Includes: Supplementary data
Journal Articles

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Lorenzo Boffa, Anna Sesselmann, Máximo A. Roa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031011.
Paper No: JMR-22-1272
https://doi.org/10.1115/1.4062388
Published Online: May 2, 2023
View Article titled, Emerging Gaits for a Quadrupedal Template Model With Segmented Legs
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Topics: Dynamics (Mechanics), Knee, Limit cycles, Robots, Springs, Stability, Stiffness, Equations of motion, Eigenvalues, Elasticity
Journal Articles

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Vimalesh Muralidharan, Nicolas Testard, Christine Chevallereau, Anick Abourachid, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035002.
Paper No: JMR-22-1185
https://doi.org/10.1115/1.4062302
Published Online: April 27, 2023
View Article titled, Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck
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Topics: Cables, Manipulators, Stiffness, Equilibrium (Physics), Springs
Journal Articles

Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation

Justin Quan, Dennis Hong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031009.
Paper No: JMR-22-1267
https://doi.org/10.1115/1.4062150
Published Online: April 18, 2023
View Article titled, Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation
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Topics: End effectors, Kinematics, Mechanical admittance, Springs, Stress, Design, Shapes, Weight (Mass), Mobile robots, Engineering prototypes
Journal Articles

Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop

Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031008.
Paper No: JMR-22-1128
https://doi.org/10.1115/1.4062212
Published Online: April 10, 2023
View Article titled, Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
Open the PDF for Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop in another window
Topics: Control equipment, Degrees of freedom, Design, Dynamics (Mechanics), Feedforward control, Manipulators, Muscle, Pressure, Robots, Valves
Journal Articles

Direct Encoding of Tunable Stiffness Into an Origami-Inspired Jumping Robot Leg

Fuchen Chen, Daniel M. Aukes
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031012.
Paper No: JMR-22-1373
https://doi.org/10.1115/1.4056958
Published Online: March 29, 2023
View Article titled, Direct Encoding of Tunable Stiffness Into an Origami-Inspired Jumping Robot Leg
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Topics: Design, Robots, Springs, Stiffness, Laminates, Origami-inspired design, Motors
Journal Articles

Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles

Chi-Shiun Jhuang, Chia-Wei Juang, Dar-Zen Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031006.
Paper No: JMR-22-1390
https://doi.org/10.1115/1.4056960
Published Online: March 8, 2023
View Article titled, Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles
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Topics: Manipulators, Springs, Torque
Journal Articles

A Curved Compliant Differential Mechanism With Neutral Stability

Robin Mak, Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011003.
Paper No: JMR-22-1430
https://doi.org/10.1115/1.4056867
Published Online: March 3, 2023
View Article titled, A Curved Compliant Differential Mechanism With Neutral Stability
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Topics: Potential energy, Springs, Stability, Stiffness, Symmetry (Physics), Deformation, Simulation
Journal Articles

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms

Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021001.
Paper No: JMR-22-1290
https://doi.org/10.1115/1.4056600
Published Online: March 3, 2023
View Article titled, Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
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Topics: Design, Springs, Torque, Wire, Degrees of freedom, Friction, Cams
Journal Articles

A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom

Jihui Li, Zhenyuan Yu, Zhiwei Zhu, Zichen Deng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061005.
Paper No: JMR-22-1108
https://doi.org/10.1115/1.4056252
Published Online: January 17, 2023
View Article titled, A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom
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Topics: Cables, Design, Engineering prototypes, Engines, Hinges, Kinematics, Linkages, Manipulators, Manufacturing, Motors
Journal Articles

Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054502.
Paper No: JMR-22-1110
https://doi.org/10.1115/1.4055999
Published Online: November 25, 2022
View Article titled, Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
Open the PDF for Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum in another window
Topics: Deformation, Dynamics (Mechanics), Inertia (Mechanics), Pendulums, Stiffness, Potential energy, Rotation, Springs, Damping, Dampers
Journal Articles

Development of a Constant Force Suspended Backpack for Variable Load and Variable Speed Locomotion

Haotian Ju, Liang Gao, Hongwu Li, Dongbao Sui, Qinghua Zhang, Yanhe Zhu, Jie Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051006.
Paper No: JMR-22-1139
https://doi.org/10.1115/1.4055935
Published Online: November 24, 2022
View Article titled, Development of a Constant Force Suspended Backpack for Variable Load and Variable Speed Locomotion
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Topics: Stress, Design, Springs, Stiffness, Pulleys