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Journal Articles

Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator

Kendall Koe, Samhita Marri, Benjamin Walt, Shivani Kamtikar, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071010.
Paper No: JMR-24-1069
https://doi.org/10.1115/1.4067872
Published Online: February 27, 2025
View Articletitled, Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator
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Topics: Control equipment, Dynamics (Mechanics), End effectors, Errors, Manipulators, Stress, Trajectories (Physics), Optimization, Robotics, Architecture
Journal Articles

Stiffness Compensation Through Matching Buckling Loads in a Compliant Four-Bar Mechanism

A. Numić, T.W.A. Blad, F. van Keulen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021007.
Paper No: JMR-21-1137
https://doi.org/10.1115/1.4052333
Published Online: September 21, 2021
View Articletitled, Stiffness Compensation Through Matching Buckling Loads in a Compliant Four-Bar Mechanism
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Topics: Buckling, Deflection, Linkages, Stiffness, Stress, Architecture, Finite element analysis, Springs, Displacement
Journal Articles

Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014503.
Paper No: JMR-20-1117
https://doi.org/10.1115/1.4048258
Published Online: October 22, 2020
View Articletitled, Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
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Topics: Actuators, Architecture, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Robots, Manufacturing, Springs
Journal Articles

Geometric Error Effects on Manipulators' Positioning Precision: A General Analysis and Evaluation Method

Henrique Simas, Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061016.
Paper No: JMR-16-1049
https://doi.org/10.1115/1.4034577
Published Online: October 6, 2016
View Articletitled, Geometric Error Effects on Manipulators' Positioning Precision: A General Analysis and Evaluation Method
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Topics: Errors, Evaluation methods, Manipulators, Manufacturing, Design, Architecture, Calibration, Degrees of freedom, Mechanical admittance
Journal Articles

Multitransformable Leaf-Out Origami With Bistable Behavior

Hiromi Yasuda, Zhisong Chen, Jinkyu Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2016, 8(3): 031013.
Paper No: JMR-15-1187
https://doi.org/10.1115/1.4031809
Published Online: March 7, 2016
View Articletitled, Multitransformable Leaf-Out Origami With Bistable Behavior
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Topics: Architecture, Engineering systems and industry applications, Kinematics, Potential energy, Shapes, Space frame structures, Springs, Stiffness, Torsion, Modeling
Journal Articles

A Vector Expression of the Constant-Orientation Singularity Locus of the Gough–Stewart Platform

Karine Doyon, Clément Gosselin, Philippe Cardou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2013, 5(3): 034502.
Paper No: JMR-12-1168
https://doi.org/10.1115/1.4024295
Published Online: June 24, 2013
View Articletitled, A Vector Expression of the Constant-Orientation Singularity Locus of the Gough–Stewart Platform
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Topics: Jacobian matrices, Scalars, Architecture, Kinematics, Modeling
Journal Articles

Singularity Conditions of 3T1R Parallel Manipulators With Identical Limb Structures

Semaan Amine, Mehdi Tale Masouleh, Stéphane Caro, Philippe Wenger, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2012, 4(1): 011011.
https://doi.org/10.1115/1.4005336
Published Online: February 3, 2012
View Articletitled, Singularity Conditions of 3T1R Parallel Manipulators With Identical Limb Structures
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Topics: Algebra, Architecture, Geometry, Jacobian matrices, Manipulators, Screws, Rotation, Mechanical admittance, Robots
Journal Articles

Type Synthesis of Linkage-Driven Self-Adaptive Fingers

Lionel Birglen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2009, 1(2): 021010.
https://doi.org/10.1115/1.3046139
Published Online: January 12, 2009
View Articletitled, Type Synthesis of Linkage-Driven Self-Adaptive Fingers
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Topics: Architecture, Linkages, Robotics, Design, Engineering prototypes, Actuators, Kinematics, Torque