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ASME 1987 Design Technology Conferences

September 27–30, 1987

Boston, Massachusetts, USA

Conference Sponsors:

ISBN:

978-0-7918-9774-4

In This Volume

13th Design Automation Conference (57)

13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems

13th Design Automation Conference

Electro-Rheological-Fluid-Based Articulating Robotic Systems

M. V. Gandhi, B. S. Thompson, S. Shakir

IDETC-CIE 1987; 1-10doi:https://doi.org/10.1115/DETC1987-0056

Abstract

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Topics: Fluids , Rheology , Robotics , Design , Thrust , Advanced materials , Composite materials , Computer simulation , Design methodology , Electric fields

Controlling Vibration in Remote Manipulators

N. C. Singer, W. P. Seering

IDETC-CIE 1987; 11-15doi:https://doi.org/10.1115/DETC1987-0057

Abstract

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Topics: Manipulators , Vibration , Feedforward control , Computer software , Computers , Flexible structures , Space vehicles

Design and Construction of a Statically-Balanced Direct Drive ARM

H. Kazerooni, S. Kim

IDETC-CIE 1987; 17-23doi:https://doi.org/10.1115/DETC1987-0058

Abstract

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Topics: Construction , Design , Robots , Kinematics , Manufacturing , Motors , Actuators , Composite materials , Epoxy adhesives , Epoxy resins

Development of a Versatile Multiple Prehension, Compliance Controlled Robotic End-Effector

U. Tsach, R. Melamed, T. J. Garrison

IDETC-CIE 1987; 25-29doi:https://doi.org/10.1115/DETC1987-0059

Abstract

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Topics: End effectors , Robotics , Control equipment , Computers , Degrees of freedom , Kinematics , Mechanical hands , Pressure , Rubber

Structural Kinematics of Partially-Parallel Robotic Mechanisms

M. Gaber Mohamed

IDETC-CIE 1987; 31-35doi:https://doi.org/10.1115/DETC1987-0060

Abstract

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Topics: Kinematics , Robotics , Kinematic chains , Load bearing capacity , Stiffness

Shape Optimum Design of Robotic Manipulators With Static Performance Criteria

D. A. Saravanos, J. S. Lamancusa, H. J. Sommer, III

IDETC-CIE 1987; 37-44doi:https://doi.org/10.1115/DETC1987-0061

Abstract

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Topics: Design , Manipulators , Shapes , Dimensions , Robotics , Stiffness , Deflection , End effectors , Finite element analysis , Modeling

Reliability Analysis of Robot Manipulators

P. K. Bhatti, S. S. Rao

IDETC-CIE 1987; 45-53doi:https://doi.org/10.1115/DETC1987-0062

Abstract

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Topics: Event history analysis , Manipulators , Reliability , Robot kinematics

On the Workspace of Closed-Loop Manipulators With Ground-Mounted Rotary-Linear Actuators and Finite Size Platform

Tzu-Chen Weng, G. N. Sandor, Yongxian Xu, D. Kohli

IDETC-CIE 1987; 55-61doi:https://doi.org/10.1115/DETC1987-0063

Abstract

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Topics: Actuators , Manipulators , Sferics

Dynamic Analysis of Two Cooperating Robots

G. R. Pennock, B. S. Ryuh

IDETC-CIE 1987; 63-72doi:https://doi.org/10.1115/DETC1987-0064

Abstract

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Topics: Dynamic analysis , Robots , Manufacturing , Dynamics (Mechanics) , Classical mechanics , Computers , Design , Manipulators , Manufacturing cells , Reliability

Some Properties of a New Kinematic Structure for Robot Manipulators

R. Stoughton, T. Kokkinis

IDETC-CIE 1987; 73-79doi:https://doi.org/10.1115/DETC1987-0065

Abstract

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Topics: Kinematics , Manipulators , Chain , Jacobian matrices , Optimization

Primary Workspace of Simple Six-Link Robots

E. Y. Lin, D. C. H. Yang, S. Y. Cheng

IDETC-CIE 1987; 81-88doi:https://doi.org/10.1115/DETC1987-0066

Abstract

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Topics: Robots , Yaw , Kinematics , Theorems (Mathematics)

On the Equations of Motion for Robot Arms and Open Kinematic Chains

S. Gupta, M. A. Townsend

IDETC-CIE 1987; 89-98doi:https://doi.org/10.1115/DETC1987-0067

Abstract

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Topics: Equations of motion , Open kinematic chains , Robots , Modeling

Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique

M. A. Townsend, S. Gupta

IDETC-CIE 1987; 99-109doi:https://doi.org/10.1115/DETC1987-0068

Abstract

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Topics: Modeling , Polynomials , Robot dynamics , Equations of motion , Robots , Computation

The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator

C. Gosselin, J. Angeles

IDETC-CIE 1987; 111-115doi:https://doi.org/10.1115/DETC1987-0069

Abstract

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Topics: Design , Kinematics , Manipulators , Isotropy , Numerical analysis

Dynamic Modeling of a Multi-Legged Robotic Vehicle: Part 1 — Kinematic Analysis

R. A. Hart, N. D. Ebrahimi

IDETC-CIE 1987; 117-125doi:https://doi.org/10.1115/DETC1987-0070

Abstract

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Topics: Dynamic modeling , Kinematic analysis , Robotic vehicles , Vehicles , Dynamic models , Actuators , Chain , Dynamic analysis , Equilibrium (Physics) , Kinematic chains

The Design of Three Jointed Two-Degree-of-Freedom Robot Fingers

S. O. Leaver, J. M. McCarthy

IDETC-CIE 1987; 127-133doi:https://doi.org/10.1115/DETC1987-0071

Abstract

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Topics: Design , Robots , Degrees of freedom , Manipulators , Mechanical hands , Engines , Kinematics , Motors , Sensors , Weight (Mass)

Characteristic Surfaces for Three Position Function Generation With Planar Four Bar Mechanisms

C. R. Barker, P.-L. Tso

IDETC-CIE 1987; 135-142doi:https://doi.org/10.1115/DETC1987-0072

Abstract

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Topics: Design

Cam Motion Synthesis Using Spline Functions: Part I — Basic Theory and Elementary Applications

D. M. Tsay, C. O. Huey, Jr.

IDETC-CIE 1987; 143-149doi:https://doi.org/10.1115/DETC1987-0073

Abstract

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Topics: Splines

Cam Motion Synthesis Using Spline Functions: Part II — Applications

D. M. Tsay, C. O. Huey, Jr.

IDETC-CIE 1987; 151-159doi:https://doi.org/10.1115/DETC1987-0074

Abstract

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Topics: Splines , B-splines , Kinematics

Selective Precision Synthesis of the Spatial Slider Crank Mechanism for Path and Function Generation

P. Premkumar, S. R. Dhall, S. N. Kramer

IDETC-CIE 1987; 161-168doi:https://doi.org/10.1115/DETC1987-0075

Abstract

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Topics: Computer-aided design , Displacement , Gradient methods , Optimization , Polynomials , Rotation

Cycloid Drives With Machining Tolerances: Part I — Kinematic Analysis

J. G. Blanche, D. C. H. Yang

IDETC-CIE 1987; 169-176doi:https://doi.org/10.1115/DETC1987-0076

Abstract

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Topics: Kinematic analysis , Machining , Torque , Gears , Design , Dimensions , Machinery , Planetary gears , Rollers , Sun gears

Cycloid Drives With Machining Tolerances: Part II — Computer-Aided Design

D. C. H. Yang, J. G. Blanche

IDETC-CIE 1987; 177-186doi:https://doi.org/10.1115/DETC1987-0077

Abstract

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Topics: Computer-aided design , Machining , Gears , Torque , Design

Kinematic Displacement Analysis of a Double-Cardan-Joint Driveline

I. S. Fischer, R. N. Paul

IDETC-CIE 1987; 187-195doi:https://doi.org/10.1115/DETC1987-0078

Abstract

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Topics: Displacement , Kinematics , Universal joints , Automobiles , Computers , Data acquisition , Errors , Manufacturing , Optimization algorithms , Shaft angle encoders

Reliability Analysis of Function Generating Mechanisms Through Monte Carlo Simulation

R. H. Crawford, S. S. Rao

IDETC-CIE 1987; 197-202doi:https://doi.org/10.1115/DETC1987-0079

Abstract

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Topics: Event history analysis , Simulation , Reliability , Probability , Dimensions , Statistical distributions

Computer-Aided Design of the RSSR Function Generating Spatial Mechanism Using the Selective Precision Synthesis Method

S. R. Dhall, S. N. Kramer

IDETC-CIE 1987; 203-208doi:https://doi.org/10.1115/DETC1987-0080

Abstract

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Topics: Computer-aided design , Gradient methods , Kinematics , Optimization

A Computer-Aided Design Technique for the Synthesis of Planar Four Bar Mechanisms Satisfying Specified Kinematic and Dynamic Conditions

G. A. Rigelman, S. N. Kramer

IDETC-CIE 1987; 209-214doi:https://doi.org/10.1115/DETC1987-0081

Abstract

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Topics: Computer-aided design , Kinematics , Optimization , Stress , Torque

An Orthogonal-Decomposition Algorithm for Constrained Least-Square Optimization

J. Angeles, K. Anderson, C. Gosselin

IDETC-CIE 1987; 215-220doi:https://doi.org/10.1115/DETC1987-0082

Abstract

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Topics: Algorithms , Design , Optimization

Synthesis and Balancing of Cam-Modulated Linkages

P. Pracht, P. Minotti, M. Dahan

IDETC-CIE 1987; 221-226doi:https://doi.org/10.1115/DETC1987-0083

Abstract

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Topics: Linkages , Design , Manipulators , Springs , Chain , Errors , Friction , Grippers , Industrial design , Kinematic chains

Synthesis of Linkages to Generate Specified Histories of Forces and Torques: The Planar 4R Four-Bar Mechanism

C. Bagci

IDETC-CIE 1987; 227-236doi:https://doi.org/10.1115/DETC1987-0084

Abstract

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Topics: Linkages , Design , Torque , Equilibrium (Physics) , Mechanical drives

Synthesis of Linkages to Generate Specified Histories of Forces and Torques: The Planar Slider-Crank Mechanism

C. Bagci

IDETC-CIE 1987; 237-244doi:https://doi.org/10.1115/DETC1987-0085

Abstract

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Topics: Linkages , Torque , Design , Equilibrium (Physics)

On the Derivation of Grashof-Type Moveability Conditions With Transmission Angle Control for Spatial Mechanisms

J. Rastegar

IDETC-CIE 1987; 245-256doi:https://doi.org/10.1115/DETC1987-0086

Abstract

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Topics: Approximation , Drag (Fluid dynamics) , Rotation

Detection of Isomorphism Between Planar Kinematic Chains

L. K. Patel, A. C. Rao

IDETC-CIE 1987; 257-262doi:https://doi.org/10.1115/DETC1987-0087

Abstract

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Topics: Kinematic chains , Chain , Probability , Degrees of freedom , Linkages , Structural analysis , Topology

Synthesis of 4-Bar Straight-Line Mechanisms by Moving Direction

Wu Peifang

IDETC-CIE 1987; 263-266doi:https://doi.org/10.1115/DETC1987-0088

Abstract

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Topics: Design methodology , Dimensions

Singularities in Motion and Displacement Functions for the RCRCR RCRRC and RSRC Linkages: Part I — Basic Concepts

F. L. Litvin, J. Tan, P. Fanghella, S. Wu

IDETC-CIE 1987; 267-277doi:https://doi.org/10.1115/DETC1987-0089

Abstract

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Topics: Displacement , Linkages , Chain , Design , Manufacturing , Modeling , Open kinematic chains , Scalars

Singularities in Motion and Displacement Functions for the RCRCR, RCRRC and RSRC Linkages: Part II — The RCRCR Linkage

F. L. Litvin, J. Tan

IDETC-CIE 1987; 279-284doi:https://doi.org/10.1115/DETC1987-0090

Abstract

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Topics: Displacement , Linkages

Singularities in Motion and Displacement Functions for RCRCR, RCRRC and RSRC Linkages: Part III — RCRRC Linkage

F. L. Litvin, P. Fanghella

IDETC-CIE 1987; 285-290doi:https://doi.org/10.1115/DETC1987-0091

Abstract

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Topics: Displacement , Linkages

Singularities in Motion and Displacement Functions for the RCRCR, RCRRC and RSRC Linkages: Part IV — The RSRC Linkage

F. L. Litvin, S. Wu

IDETC-CIE 1987; 291-297doi:https://doi.org/10.1115/DETC1987-0092

Abstract

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Topics: Displacement , Linkages , Modeling , Open kinematic chains

Inverse Kinematics Solutions for General Spatial Linkages

M. Tucker, N. D. Perreira

IDETC-CIE 1987; 299-309doi:https://doi.org/10.1115/DETC1987-0093

Abstract

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Topics: Kinematics , Linkages , Robots , Degrees of freedom

The Image of the Coupler Motion of a Special Spherical Four Bar Linkage

J. M. McCarthy

IDETC-CIE 1987; 311-316doi:https://doi.org/10.1115/DETC1987-0094

Abstract

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Topics: Linkages , Torsion , Computation , Kinematics , Parametrization

Quaternions, Hamilton Operators, and Kinematics of Mechanical Systems

O. P. Agrawal

IDETC-CIE 1987; 317-322doi:https://doi.org/10.1115/DETC1987-0095

Abstract

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Topics: Kinematics , Kinematic analysis , Matrix algebra , Rotation

Dynamic Modelling and Analysis of General Linked Mechanisms With Compliance

L. Shih, A. A. Frank

IDETC-CIE 1987; 323-331doi:https://doi.org/10.1115/DETC1987-0096

Abstract

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Topics: Computation , Dynamic modeling , Dynamics (Mechanics) , Equations of motion , Flywheels , Kinematic analysis , Kinematics , Lubrication , Open kinematic chains

Design of Radial Cams With Zero Pressure Angle

R. G. Fenton, Wu Zhenbiao

IDETC-CIE 1987; 333-337doi:https://doi.org/10.1115/DETC1987-0097

Abstract

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Topics: Cams , Design , Pressure , Rollers

Planetary-Gear-Type Second-Harmonic Balancers

L. W. Tasi, E. R. Maki

IDETC-CIE 1987; 339-346doi:https://doi.org/10.1115/DETC1987-0098

Abstract

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Topics: Bearings , Combustion , Cylinders , Gear trains , Gears , Machinery , Piston engines , Planetary gears , Trains

Quadratic Time Increment Indexing for Stepper Motor Motion Control

M. Savage, J. E. Grover

IDETC-CIE 1987; 347-353doi:https://doi.org/10.1115/DETC1987-0099

Abstract

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Topics: Indexing (Machining) , Motion control , Stepper motors , Engines , Motors , Real-time control , Stress , Torque

Hypotrochoidal Versus Epitrochoidal Gerotor Type Pumps With Special Attention to Volume Change Ratio and Size

J. E. Beard, A. S. Hall, W. Soedel

IDETC-CIE 1987; 355-362doi:https://doi.org/10.1115/DETC1987-0100

Abstract

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Topics: Pumps , Engines , Compressors , Displacement , Flow (Dynamics) , Shapes

The Image Curve of the Motion of the Planet in a Spherical Epicyclic Gear Train

Q. Ge, J. M. McCarthy

IDETC-CIE 1987; 363-368doi:https://doi.org/10.1115/DETC1987-0101

Abstract

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Topics: Planetary gears , Trains , Dimensions , Gear trains , Gears , Rotation , Torsion

Simulation of Planar Dynamic Mechanical Systems With Changing Topologies: Part I — Characterization and Prediction of the Kinematic Constraint Changes

B. J. Gilmore, R. J. Cipra

IDETC-CIE 1987; 369-377doi:https://doi.org/10.1115/DETC1987-0102

Abstract

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Topics: Kinematics , Simulation , Equations of motion , Firing , System dynamics , Topology

Simulation of Planar Dynamic Mechanical Systems With Changing Topologies: Part II — Implementation Strategy and Simulation Results for Example Dynamic Systems

B. J. Gilmore, R. J. Cipra

IDETC-CIE 1987; 379-388doi:https://doi.org/10.1115/DETC1987-0103

Abstract

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Topics: Dynamic systems , Simulation , Simulation results , Kinematics , Topology , Equations of motion , Complex systems , Impulse (Physics) , Momentum