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Keywords: and control of mechanical systems
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Journal Articles

Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators

Zhiguang Xing, Guoguo Yang, Pengyuan Wang, Zheng Zheng, Jianwen Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031010.
Paper No: JMR-23-1702
https://doi.org/10.1115/1.4066098
Published Online: September 20, 2024
... and control of mechanical systems mechanisms and robots soft robots Theorem Suppose that z E > 0 , then we have B sol C sol − A sol D sol ⩽ 0 . Proof Let α E = ( x E , y E , z E ) , β E...
View Article titled, Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators
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Topics: Kinematics, Manipulators, Algorithms, Robots
Journal Articles

Gait Generation of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model

Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021013.
Paper No: JMR-23-1698
https://doi.org/10.1115/1.4066428
Published Online: September 20, 2024
... 28 08 2024 20 09 2024 1 Corresponding author. Email: sunilg@iitk.ac.in Email: ssgupta@iitk.ac.in Email: adutta@iitk.ac.in kinematics dynamics and control of mechanical systems multibody dynamics and control References [1] Sugihara , T...
View Article titled, Gait Generation of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model
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Topics: Dynamics (Mechanics), Humanoid robots, Pendulums, Robots, Kinematics
Journal Articles

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Jason Gurney
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031006.
Paper No: JMR-24-1040
https://doi.org/10.1115/1.4066185
Published Online: September 3, 2024
... performance. Studying how to control the GRF direction to make robotic locomotion similar to that of animals is an active area of research for legged systems. bio-inspired compliant mechanisms and robots kinematics dynamics and control of mechanical systems mechanisms and robots multi-body...
View Article titled, Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion
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Topics: Control equipment, Knee, Legged locomotion, Simulation, Stiffness, Torque, Springs, Robotics, Stability
Journal Articles

Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference

Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011006.
Paper No: JMR-24-1049
https://doi.org/10.1115/1.4065520
Published Online: June 24, 2024
...–Lagrange formulation human gait inverse dynamic model Marker data moving frame reference kinematics dynamics and control of mechanical systems multi-body dynamics and exoskeletons rehabilitation mechanisms and robots theoretical and computational kinematics Graphical Abstract Figure...
View Article titled, Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
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Topics: Dynamics (Mechanics), Knee, Torque, Kinematics, Exoskeleton devices, Dynamic models, Manipulators, Modeling
Journal Articles

Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots

Felix Trautwein, David Dietrich, Andreas Pott, Alexander Verl
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010908.
Paper No: JMR-23-1708
https://doi.org/10.1115/1.4065642
Published Online: June 17, 2024
... International Conference on Advances in Robot Kinematics 2016 , Grasse, France , Springer, pp. 365 – 374 . 10 11 2023 25 04 2024 25 04 2024 17 06 2024 Graphical Abstract Figure cable-driven mechanisms kinematics dynamics and control of mechanical systems...
View Article titled, Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots
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Topics: Cables, Robots, Stability, Topology, Kinematics, Modeling, Algorithms
Journal Articles

Cable Path Analysis and Kinematic Control of a Cable-Driven Parallel Robot Allowing Cables to Wrap on Cylinders or Spheres

Hao Xiong, Yuchen Xu, Yuanjie Yu, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010903.
Paper No: JMR-23-1583
https://doi.org/10.1115/1.4064982
Published Online: June 7, 2024
... ]. cable-driven parallel robots cylinder sphere wrapping phenomenon kinematics and control of mechanical systems theoretical and computational kinematics Graphical Abstract Figure 29 09 2023 26 02 2024 27 02 2024 07 06 2024 Contributed by Mechanisms...
View Article titled, Cable Path Analysis and Kinematic Control of a Cable-Driven Parallel Robot Allowing Cables to Wrap on Cylinders or Spheres
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Topics: Cables, Kinematics, Cylinders
Journal Articles

New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer

Miguel De La Melena, Shawn Duan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091012.
Paper No: JMR-23-1689
https://doi.org/10.1115/1.4065082
Published Online: May 10, 2024
... for publication in the J ournal of M echanisms and R obotics . 01 11 2023 09 03 2024 10 03 2024 10 05 2024 Graphical Abstract Figure kinematics dynamics and control of mechanical systems multi-body dynamics and control parallel mechanisms and robots...
View Article titled, New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer
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Topics: Design, End effectors, Engineering prototypes, Equations of motion, Finite element analysis, Kinematics, Manipulators, Optimization, Testing, Degrees of freedom
Journal Articles

Hydrodynamic Performance Research of Underwater Oscillating Fin With the Compound Locomotion of Two Modes

Qian Yin, Ming-hai Xia, Wen-bin Zhang, Yuan Luo, Jian-zhong Shang, Zi-rong Luo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124503.
Paper No: JMR-23-1584
https://doi.org/10.1115/1.4065137
Published Online: April 23, 2024
... of mechanical systems mechanism design underwater robotics National Natural Science Foundation of China 10.13039/501100001809 52105289 Natural Science Foundation of\xA0Hunan Province 10.13039/501100004735 2023JJ40048 With the increasing demand for intelligent robots in marine...
View Article titled, Hydrodynamic Performance Research of Underwater Oscillating Fin With the Compound Locomotion of Two Modes
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Topics: Oscillations, Robots, Propulsion
Journal Articles

Advancing Legged Wall Climbing Robot Performance Through Dynamic Contact-Integrated Climbing Model

Shengchang Fang, Guisong Chen, Yitong Zhou, Xiaojie Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061016.
Paper No: JMR-23-1799
https://doi.org/10.1115/1.4064742
Published Online: March 19, 2024
... analysis experimental validation and design optimization bio-inspired compliant mechanisms and robots kinematics dynamics and control of mechanical systems legged robots mobile robots in highly challenging environments Graphical Abstract Figure Copyright © 2024 by ASME 2024...
View Article titled, Advancing Legged Wall Climbing Robot Performance Through Dynamic Contact-Integrated Climbing Model
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Topics: Robots
Journal Articles

An Efficient Kinematic Calibration Method for Parallel Robots With Compact Multi-Degrees-of-Freedom Joint Models

Weijia Zhang, Zikang Shi, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101011.
Paper No: JMR-23-1707
https://doi.org/10.1115/1.4064637
Published Online: February 28, 2024
... of M echanisms and R obotics . 09 11 2023 19 01 2024 23 01 2024 28 02 2024 Graphical Abstract Figure kinematic calibration parallel robot multi-DOF joint model product of exponentials kinematics dynamics and control of mechanical systems Nowadays...
View Article titled, An Efficient Kinematic Calibration Method for Parallel Robots With Compact Multi-Degrees-of-Freedom Joint Models
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Topics: Calibration, Error compensation, Errors, Kinematics, Robots, Modeling, Simulation, End effectors
Journal Articles

Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach

André Gallant, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091008.
Paper No: JMR-23-1455
https://doi.org/10.1115/1.4064570
Published Online: February 27, 2024
... by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 15 08 2023 12 01 2024 12 01 2024 27 02 2024 kinematics dynamics and control of mechanical systems mechanism synthesis and analysis motion and manipulation planning...
View Article titled, Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach
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Topics: Design, Kinematics, Manipulators, Optimization, Trajectories (Physics)
Journal Articles

Improved Design of an Orthogonal-Axis-Type Precession Motion Ball Reducer

Hidetsugu Terada, Koji Makino, Yuma Wada, Takeshi Nagai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091010.
Paper No: JMR-23-1500
https://doi.org/10.1115/1.4064638
Published Online: February 27, 2024
... echanisms and R obotics . 31 08 2023 11 01 2024 12 01 2024 27 02 2024 Graphical Abstract Figure reducer gearless ball precession motion orthogonal-axis groove on outer spherical surface kinematics dynamics and control of mechanical systems mechanism design...
View Article titled, Improved Design of an Orthogonal-Axis-Type Precession Motion Ball Reducer
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Topics: Design, Engineering prototypes, Rotation, Rotors, Pressure, Geometry
Journal Articles

A Dimensionless Large Displacement Model for Flexure Hinges of Elliptical Geometry

Simir Moschini, Matteo Claudio Palpacelli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101002.
Paper No: JMR-23-1158
https://doi.org/10.1115/1.4064416
Published Online: February 5, 2024
... Committee of ASME for publication in the J ournal of M echanisms and R obotics . 23 03 2023 19 12 2023 22 12 2023 05 02 2024 compliant mechanisms kinematics dynamics and control of mechanical systems mechanism synthesis and analysis microscale mechanisms and robotics...
View Article titled, A Dimensionless Large Displacement Model for Flexure Hinges of Elliptical Geometry
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Topics: Bending (Stress), Geometry, Hinges, Stiffness, Displacement, Stress, Errors, Compliant mechanisms, Simulation
Journal Articles

Redundant Serial Manipulator Inverse Position Kinematics and Dynamics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081008.
Paper No: JMR-23-1364
https://doi.org/10.1115/1.4064047
Published Online: December 11, 2023
... of mechanical systems mechanisms and robots multi-body dynamics and control The excess in number of input coordinates over the number of output coordinates that characterize kinematically redundant serial manipulators provides an opportunity to achieve a desired output trajectory, while simultaneously...
View Article titled, Redundant Serial Manipulator Inverse Position Kinematics and Dynamics
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Topics: Dynamics (Mechanics), Kinematics, Manifolds, Manipulators
Journal Articles

A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061005.
Paper No: JMR-23-1245
https://doi.org/10.1115/1.4063038
Published Online: August 16, 2023
... obotics . 27 04 2023 17 07 2023 21 07 2023 16 08 2023 cyclic redundant manipulators manipulator differentiable manifold inverse manipulator kinematics kinematics dynamics and control of mechanical systems mechanisms and robots robot motion planning and control...
View Article titled, A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics
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Topics: Kinematics, Manifolds, Manipulators, Redundant manipulators