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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

Instant Grasping Framework of Textured Objects via Precise Point Matches and Normalized Target Poses

Accepted Manuscript
Yazhe Luo, Sipu Ruan, Yifei Li, Jiting Li, Diansheng Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1628
https://doi.org/10.1115/1.4068273
Published Online: March 21, 2025
View Article titled, Instant Grasping Framework of Textured Objects via Precise Point Matches and Normalized Target Poses
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Topics: Grasping
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
Image

Hybrid structure in the ( a ) biological and ( b ) industrial fields

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 1 Hybrid structure in the ( a ) biological and ( b ) industrial fields More about this image found in Hybrid structure in the ( a ) biological and ( b ) industrial fields
Image

Forms of worm movement: ( a ) peristaltic motion, ( b ) Ω motion, and ( c )...

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 2 Forms of worm movement: ( a ) peristaltic motion, ( b ) Ω motion, and ( c ) rolling motion More about this image found in Forms of worm movement: ( a ) peristaltic motion, ( b ) Ω motion, and ( c )...
Image

Sketch of the HSCDPR arm

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 3 Sketch of the HSCDPR arm More about this image found in Sketch of the HSCDPR arm
Image

Sketch of the HSCDPR

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 4 Sketch of the HSCDPR More about this image found in Sketch of the HSCDPR
Image

Sketch of the kinematic model: ( a ) parallel platform, ( b ) URU branch, a...

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 5 Sketch of the kinematic model: ( a ) parallel platform, ( b ) URU branch, and ( c ) RSR branch More about this image found in Sketch of the kinematic model: ( a ) parallel platform, ( b ) URU branch, a...
Image

Sketch of the base platform and mobile platform coordinate

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 6 Sketch of the base platform and mobile platform coordinate More about this image found in Sketch of the base platform and mobile platform coordinate
Image

Sketch of the HSCDPR arm

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 7 Sketch of the HSCDPR arm More about this image found in Sketch of the HSCDPR arm
Image

Positional inverse solution verification: ( a ) line chart and ( b ) motion...

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 8 Positional inverse solution verification: ( a ) line chart and ( b ) motion trajectory More about this image found in Positional inverse solution verification: ( a ) line chart and ( b ) motion...
Image

The trend of cable length: ( a ) cables 1–6 and ( b ) cables 7–12

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 9 The trend of cable length: ( a ) cables 1–6 and ( b ) cables 7–12 More about this image found in The trend of cable length: ( a ) cables 1–6 and ( b ) cables 7–12
Image

Cable speed desired and simulation: ( a )–( l ) cables 1–12

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 10 Cable speed desired and simulation: ( a )–( l ) cables 1–12 More about this image found in Cable speed desired and simulation: ( a )–( l ) cables 1–12
Image

Cable acceleration desired and simulation: ( a )–( l ) cables 1–12

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 11 Cable acceleration desired and simulation: ( a )–( l ) cables 1–12 More about this image found in Cable acceleration desired and simulation: ( a )–( l ) cables 1–12
Image

Cable tension: ( a ) cables 1–6 and ( b ) cables 7–12

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 12 Cable tension: ( a ) cables 1–6 and ( b ) cables 7–12 More about this image found in Cable tension: ( a ) cables 1–6 and ( b ) cables 7–12
Image

3D animation model of the HSCDPR: ( a ) 3D animation and ( b ) motion traje...

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 13 3D animation model of the HSCDPR: ( a ) 3D animation and ( b ) motion trajectory More about this image found in 3D animation model of the HSCDPR: ( a ) 3D animation and ( b ) motion traje...
Image

Cable length change: ( a ) model and ( b ) simulation

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 14 Cable length change: ( a ) model and ( b ) simulation More about this image found in Cable length change: ( a ) model and ( b ) simulation
Image

Error of the cable length: ( a ) cable 1, ( b ) cable 2, ( c ) cable 3, and...

in Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot > Journal of Mechanisms and Robotics
Published Online: March 20, 2025
Fig. 15 Error of the cable length: ( a ) cable 1, ( b ) cable 2, ( c ) cable 3, and ( d ) cable 4 More about this image found in Error of the cable length: ( a ) cable 1, ( b ) cable 2, ( c ) cable 3, and...