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Journal Articles

Analysis of Force Distribution and Motion Characteristic of Hybrid-Driven Tensegrity Parallel Mechanism

Wei Zhu, Xiaoyu Zhou, Yongjing Zhu, Zhilong Ma
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051007.
Paper No: JMR-24-1196
https://doi.org/10.1115/1.4066980
Published Online: November 6, 2024
View Article titled, Analysis of Force Distribution and Motion Characteristic of Hybrid-Driven Tensegrity Parallel Mechanism
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Topics: Cables, Equilibrium (Physics), Optimization, Parallel mechanisms, Tensegrity, Chain, Tension, Rods
Journal Articles

A Combined Strategy for Path Planning of Tensegrity Manipulators Considering Structural Stability

Tianxiao Mao, Hua Deng, Hongchuang Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051005.
Paper No: JMR-24-1316
https://doi.org/10.1115/1.4066853
Published Online: November 1, 2024
View Article titled, A Combined Strategy for Path Planning of Tensegrity Manipulators Considering Structural Stability
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Topics: Kinematics, Manipulators, Path planning, Structural stability, Tensegrity, Cables, Algorithms, Elongation
Includes: Supplementary data
Journal Articles

Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints

Accepted Manuscript
Jiahui Luo, Longqing Ge, Xiaoming Xu, Xiaodong Liu, Ziwei Zhuang, Lulu Han, ZhiGang Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1150
https://doi.org/10.1115/1.4066745
Published Online: September 30, 2024
View Article titled, Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints
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Topics: Kinematics, Stability, Stiffness, Tensegrity, Cables, Computer programming, Modeling, Stress, Tension
Journal Articles

Form-Finding and Evaluation of Spherical Tensegrity Toward Applying in Locomotive Robots

Meijia Wang, Yafeng Wang, Xian Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121004.
Paper No: JMR-24-1013
https://doi.org/10.1115/1.4065072
Published Online: March 29, 2024
View Article titled, Form-Finding and Evaluation of Spherical Tensegrity Toward Applying in Locomotive Robots
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Topics: Tensegrity, Robots, Locomotives, Struts (Engineering)
Journal Articles

Impact of the Bars Behavior on the Design of Soft Tensegrities

Jérémy Sand, François Geiskopf, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104501.
Paper No: JMR-23-1373
https://doi.org/10.1115/1.4064572
Published Online: February 27, 2024
View Article titled, Impact of the Bars Behavior on the Design of Soft Tensegrities
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Topics: Stiffness, Tensegrity, Cables, Design, Stress, Silicones, Steel
Journal Articles

A Novel Elbow-Inspired Cable-Driven Tensegrity Joint: Bionic Design, Coupled Kinematics, and Load Performance

Xiongdun Xie, Dezhu Xiong, Zhenqi Li, James Zhiqing Wen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101003.
Paper No: JMR-23-1627
https://doi.org/10.1115/1.4064462
Published Online: February 5, 2024
View Article titled, A Novel Elbow-Inspired Cable-Driven Tensegrity Joint: Bionic Design, Coupled Kinematics, and Load Performance
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Topics: Bionics, Cables, Design, Engineering prototypes, Stress, Tensegrity, Tension, Kinematics
Journal Articles

A Dynamical Model for the Control of a Guyed Tensegrity Beam Under Large Displacements

Paulo R. G. Kurka, Victor A. S. M. Paiva, Luis H. Silva-Teixeira, Paola G. Ramos, Jaime H. Izuka
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091004.
Paper No: JMR-23-1476
https://doi.org/10.1115/1.4064259
Published Online: February 1, 2024
View Article titled, A Dynamical Model for the Control of a Guyed Tensegrity Beam Under Large Displacements
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Topics: Cables, Damping, Stress, Tensegrity, Tensegrity structures, Stiffness, Deformation
Journal Articles

Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot

Qi Yang, Xinyu Liu, Ze Yu, Binbin Lian, Tao Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061011.
Paper No: JMR-23-1266
https://doi.org/10.1115/1.4063290
Published Online: October 4, 2023
View Article titled, Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot
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Topics: Cables, Friction, Kinematics, Robots, Optimization, Modeling, Displacement, Stiffness, Tensegrity, Mobile robots
Journal Articles

Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator

Cole Woods, Vishesh Vikas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031006.
Paper No: JMR-22-1273
https://doi.org/10.1115/1.4056959
Published Online: March 28, 2023
View Article titled, Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator
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Topics: Design, Manipulators, Manufacturing, Modeling, String, Tensegrity, Screws, Tension, Tendons
Journal Articles

Robotic Tensegrity Structure With a Mechanism Mimicking Human Shoulder Motion

Lengxue Li, Sunhong Kim, Junho Park, Youngjin Choi, Qiang Lu, Dongliang Peng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2022, 14(2): 025001.
Paper No: JMR-21-1197
https://doi.org/10.1115/1.4052124
Published Online: September 23, 2021
View Article titled, Robotic Tensegrity Structure With a Mechanism Mimicking Human Shoulder Motion
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Topics: Cables, Robotics, Tensegrity structures, Tensegrity, Degrees of freedom, Motors, Rotation, Design, String, Trajectories (Physics)
Journal Articles

Joint Equivalence Design and Analysis of a Tensegrity Joint

Bingxing Chen, Hongzhou Jiang, Jingxuan Liu, Shuaibo Lu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040904.
Paper No: JMR-20-1611
https://doi.org/10.1115/1.4051106
Published Online: May 31, 2021
View Article titled, Joint Equivalence Design and Analysis of a Tensegrity Joint
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Topics: Design, Stiffness, Tensegrity
Journal Articles

Modeling and Design Exploration of a Tensegrity-Based Twisting Wing

Nguyen K. Pham, Edwin A. Peraza Hernandez
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031019.
Paper No: JMR-20-1461
https://doi.org/10.1115/1.4050149
Published Online: March 26, 2021
View Article titled, Modeling and Design Exploration of a Tensegrity-Based Twisting Wing
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Topics: Design, Wings, Wire, Tensegrity, Tensegrity mechanisms
Journal Articles

Workspace-Based Design of Equivalent Compression Spring Legs for a 3-DoF Translational Tensegrity Robot

Marc Arsenault
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041004.
Paper No: JMR-19-1374
https://doi.org/10.1115/1.4045724
Published Online: March 6, 2020
View Article titled, Workspace-Based Design of Equivalent Compression Spring Legs for a 3-DoF Translational Tensegrity Robot
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Topics: Compression, Deflection, Design, Robots, Springs, Cables, Tensegrity
Journal Articles

Kinetostatic Analysis and Actuation Strategy of a Planar Tensegrity 2-X Manipulator

Matthieu Furet, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 060904.
Paper No: JMR-19-1083
https://doi.org/10.1115/1.4044209
Published Online: September 10, 2019
View Article titled, Kinetostatic Analysis and Actuation Strategy of a Planar Tensegrity 2-X Manipulator
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Topics: Kinematics, Manipulators, Stiffness, Tensegrity, Cables
Journal Articles

Analysis for Feasibility of the Method for Bars Driving the Ball Tensegrity Robot

Ani Luo, Heping Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051010.
Paper No: JMR-16-1335
https://doi.org/10.1115/1.4037565
Published Online: August 18, 2017
View Article titled, Analysis for Feasibility of the Method for Bars Driving the Ball Tensegrity Robot
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Topics: Deformation, Robots, Tensegrity, Tensegrity structures
Journal Articles

Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control

Lee-Huang Chen, Kyunam Kim, Ellande Tang, Kevin Li, Richard House, Edward Liu Zhu, Kimberley Fountain, Alice M. Agogino, Adrian Agogino, Vytas Sunspiral, Erik Jung
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2017, 9(2): 025001.
Paper No: JMR-16-1318
https://doi.org/10.1115/1.4036014
Published Online: March 9, 2017
View Article titled, Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control
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Topics: Cables, Design, Robots, Tensegrity, Tensegrity structures, Actuators, Simulation
Journal Articles

Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting

Rafael E. Vasquez, Carl D. Crane,, III, Julio C. Correa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2014, 6(3): 031015.
Paper No: JMR-13-1214
https://doi.org/10.1115/1.4027703
Published Online: June 17, 2014
View Article titled, Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting
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Topics: Tensegrity mechanisms, Wave energy, Waves, Tensegrity, Equations of motion, Damping
Journal Articles

Position and Force Analysis of a Planar Tensegrity-Based Compliant Mechanism

Youngjin Moon, Carl D. Crane, III, Rodney G. Roberts
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2012, 4(1): 011004.
https://doi.org/10.1115/1.4005531
Published Online: February 3, 2012
View Article titled, Position and Force Analysis of a Planar Tensegrity-Based Compliant Mechanism
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Topics: Elastic constants, Equilibrium (Physics), Pistons, Potential energy, Springs, Stiffness, Tensegrity-based compliant mechanisms, Tensegrity
Journal Articles

21st Century Kinematics: Synthesis, Compliance, and Tensegrity

J. Michael McCarthy
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics. May 2011, 3(2): 020201.
https://doi.org/10.1115/1.4003181
Published Online: May 4, 2011
View Article titled, 21st Century Kinematics: Synthesis, Compliance, and Tensegrity
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Topics: Cables, Kinematics, Linkages, Polynomials, Tensegrity, Robotics, Design, Compliant mechanisms
Journal Articles

Variable Stiffness Spring Using Tensegrity Prisms

Mojtaba Azadi, Saeed Behzadipour, Gary Faulkner
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041001.
https://doi.org/10.1115/1.4001776
Published Online: August 30, 2010
View Article titled, Variable Stiffness Spring Using Tensegrity Prisms
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Topics: Springs, Stiffness, Tensegrity, Prisms (Optics), Engines